ABB OmniCore IRB 6720 Product Manual

5195.8.3 Replacing the axis-3 gearbox ....................................................................5685.8.4 Replacing the axis-6 gearbox ....................................................................5856 Calibration5856.1 Introduction to calibration ...................................................................................5856.1.1 Introduction and calibration terminology ......................................................5866.1.2 Calibration methods .................................................................................5886.1.3 When to calibrate ...................................................................................5896.2 Synchronization marks and axis movement directions .............................................5896.2.1 Synchronization marks and synchronization position for axes .........................5916.2.2 Calibration movement directions for all axes ................................................5926.3 Updating revolution counters ...............................................................................5926.3.1 Updating revolution counters on OmniCore robots ........................................5936.4 Calibrating with Axis Calibration method ...............................................................5936.4.1 Description of Axis Calibration ..................................................................5966.4.2 Calibration tools for Axis Calibration ...........................................................5986.4.3 Installation locations for the calibration tools ...............................................6006.4.4 Axis Calibration - Running the calibration procedure ......................................6046.4.5 Reference calibration ...............................................................................6066.5 Verifying the calibration ......................................................................................6076.6 Checking the synchronization position ..................................................................6097 Troubleshooting6097.1 Introduction to troubleshooting ............................................................................6117.2 Oil and grease stains on motors and gearboxes ......................................................6127.3 Mechanical noise or dissonance ..........................................................................6137.4 Manipulator collapses on power down ...................................................................6158 Decommissioning6158.1 Introduction to decommissioning .........................................................................6168.2 Environmental information ..................................................................................6188.3 Scrapping of robot .............................................................................................6198.4 Decommissioning of balancing device ..................................................................6219 Reference information6219.1 Introduction ......................................................................................................6229.2 Applicable standards .........................................................................................6239.3 Unit conversion .................................................................................................6249.4 Screw joints ....................................................................................................6289.5 Weight specifications .........................................................................................6299.6 Standard toolkit ................................................................................................6309.7 Special tools ....................................................................................................6349.8 Lifting accessories and lifting instructions ..............................................................635IndexProduct manual - IRB 6720 73HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.Table of contents