ABB OmniCore IRB 6720 User manual

ROBOTICS
Product manual
IRB 6720

Trace back information:
Workspace 23D version a13
Checked in 2023-12-07
Skribenta version 5.5.019

Product manual
IRB 6720
OmniCore
Document ID: 3HAC085697-001
Revision: C
© Copyright 2023 ABB. All rights reserved.
Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2023 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
9Overview of this manual ...................................................................................................................
11Product documentation ....................................................................................................................
13How to read the product manual ......................................................................................................
151 Safety
151.1 Safety information .............................................................................................
151.1.1 Limitation of liability .................................................................................
161.1.2 Requirements on personnel ......................................................................
171.2 Safety signals and symbols .................................................................................
171.2.1 Safety signals in the manual ......................................................................
191.2.2 Safety symbols on manipulator labels .........................................................
251.3 Robot stopping functions ....................................................................................
261.4 Safety during installation and commissioning .........................................................
291.5 Safety during operation ......................................................................................
301.6 Safety during maintenance and repair ...................................................................
301.6.1 Safety during maintenance and repair .........................................................
331.6.2 Emergency release of the robot axes ..........................................................
341.6.3 Brake testing ..........................................................................................
351.7 Safety during troubleshooting ..............................................................................
361.8 Safety during decommissioning ...........................................................................
372 Manipulator description
372.1 Technical data ..................................................................................................
412.2 Working range .................................................................................................
532.3 The unit is sensitive to ESD .................................................................................
553 Installation and commissioning
553.1 Introduction to installation and commissioning .......................................................
563.2 Unpacking .......................................................................................................
563.2.1 Pre-installation procedure .........................................................................
573.2.2 Risk of tipping/stability .............................................................................
593.3 On-site installation ............................................................................................
593.3.1 Brief installation procedure .......................................................................
603.3.2 Installing a base plate .............................................................................
683.3.3 Lifting the robot ......................................................................................
683.3.3.1 Lifting robot with lifting accessory (recommended lifting method) .........
703.3.3.2 Lifting the robot with fork lift ..........................................................
713.3.3.3 Lifting the robot with roundslings ....................................................
763.3.4 Orienting and securing the robot ...............................................................
793.3.5 Manually releasing the brakes ...................................................................
813.3.6 Loads fitted to the robot, stopping time and braking distances .........................
823.3.7 Fitting equipment on the robot (robot dimensions) .........................................
913.4 Working range alterations ...................................................................................
913.4.1 Adjusting the working range ......................................................................
923.4.2 Installing movable mechanical stops on axis 1 (option 3323-1) ........................
953.4.3 Extended working range, axis 1 (option) .....................................................
973.5 Electrical connections ........................................................................................
973.5.1 Robot cabling and connection points ..........................................................
1003.6 Test run after installation, maintenance, or repair ....................................................
1014 Maintenance
1014.1 Introduction ......................................................................................................
1024.2 Maintenance schedule and expected component life ...............................................
1024.2.1 Specification of maintenance intervals ........................................................
1034.2.2 Maintenance schedule .............................................................................
Product manual - IRB 6720 5
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© Copyright 2023 ABB. All rights reserved.
Table of contents

1054.2.3 Expected component life .........................................................................
1064.3 Inspection activities ...........................................................................................
1064.3.1 Inspecting the motor seal .........................................................................
1084.3.2 Inspecting the balancing device ................................................................
1124.3.3 Inspecting the cable harness ....................................................................
1154.3.4 Inspecting the dampers ...........................................................................
1174.3.5 Inspecting the information labels ...............................................................
1204.3.6 Inspecting the axis-1 mechanical stop ........................................................
1224.3.7 Inspecting the oil level in axis-1 gearbox .....................................................
1264.3.8 Inspecting the oil level in axis-2 gearbox .....................................................
1294.3.9 Inspecting the oil level in axis-3 gearbox .....................................................
1334.3.10 Inspecting the oil level in axis-4 gearbox .....................................................
1364.3.11 Inspecting the oil level in axis-5 gearbox .....................................................
1394.3.12 Inspecting the oil level in axis-6 gearbox .....................................................
1424.4 Replacement/changing activities ..........................................................................
1424.4.1 Type of lubrication in gearboxes ................................................................
1444.4.2 Changing the oil in axis-1 gearbox .............................................................
1504.4.3 Changing the oil in axis-2 gearbox .............................................................
1554.4.4 Changing the oil in axis-3 gearbox .............................................................
1604.4.5 Changing the oil in axis-4 gearbox .............................................................
1654.4.6 Changing the oil in axis-5 gearbox .............................................................
1704.4.7 Changing the oil in axis-6 gearbox .............................................................
1754.4.8 Replacing the SMB battery .......................................................................
1784.5 Lubrication activities ..........................................................................................
1784.5.1 Lubricating the spherical roller bearing, balancing device ..............................
1804.6 Cleaning activities .............................................................................................
1804.6.1 Cleaning the IRB 6720 ..............................................................................
1855 Repair
1855.1 Introduction ......................................................................................................
1865.2 General procedures ...........................................................................................
1865.2.1 Performing a leak-down test ......................................................................
1875.2.2 Mounting instructions for bearings .............................................................
1895.2.3 Mounting instructions for sealings ..............................................................
1935.2.4 Cut the paint or surface on the robot before replacing parts ............................
1945.3 Balancing device ...............................................................................................
1945.3.1 Replacing the balancing device .................................................................
2125.3.2 Replacing spherical roller bearing, balancing device link ear ...........................
2275.3.3 Replacing the rear bearings on the balancing device .....................................
2395.4 Axes 3 and 4 ....................................................................................................
2395.4.1 Replacing the arm house cover including the axis-4 cassette sealing ...............
2665.5 Wrist ...............................................................................................................
2665.5.1 Replacing the wrist .................................................................................
2865.5.2 Replacing the turning disc ........................................................................
2915.6 Electronic parts .................................................................................................
2915.6.1 Removing the cable harness ....................................................................
3125.6.2 Refitting the cable harness .......................................................................
3405.6.3 Replacing the brake release unit ...............................................................
3475.6.4 Replacing the SMB unit ...........................................................................
3535.7 Motors ............................................................................................................
3535.7.1 Replacing the axis-1 motor .......................................................................
3675.7.2 Replacing the axis-2 motor .......................................................................
3835.7.3 Replacing the axis-3 motor .......................................................................
3955.7.4 Replacing the axis-4 motor .......................................................................
4085.7.5 Replacing the axis-5 motor .......................................................................
4205.7.6 Replacing the axis-6 motor .......................................................................
4305.8 Gears ..............................................................................................................
4305.8.1 Replacing the axis-1 gearbox ....................................................................
4765.8.2 Replacing the axis-2 gearbox ....................................................................
6 Product manual - IRB 6720
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5195.8.3 Replacing the axis-3 gearbox ....................................................................
5685.8.4 Replacing the axis-6 gearbox ....................................................................
5856 Calibration
5856.1 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 Troubleshooting
6097.1 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 Decommissioning
6158.1 Introduction to decommissioning .........................................................................
6168.2 Environmental information ..................................................................................
6188.3 Scrapping of robot .............................................................................................
6198.4 Decommissioning of balancing device ..................................................................
6219 Reference information
6219.1 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 ..............................................................
635Index
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© Copyright 2023 ABB. All rights reserved.
Table of contents

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Overview of this manual
About this manual
This manual contains instructions for:
• mechanical and electrical installation of the IRB 6720
• maintenance of the IRB 6720
• mechanical and electrical repair of the IRB 6720
The robot described in this manual has the following protection types:
•Standard
•Foundry Plus
Product manual scope
The manual covers all variants and designs of the IRB 6720. Some variants and
designs may have been removed from the business offer and are no longer available
for purchase.
Usage
This manual should be used during:
• installation and commissioning, from lifting the product to its work site and
securing it to the foundation, to making it ready for operation
• maintenance work
• repair work
• decommissioning work
Note
It is the responsibility of the integrator to conduct a risk assessment of the final
application.
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
A maintenance/repair/installation craftsman working with an ABB robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
• be trained to respond to emergencies or abnormal situations.
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Product manual - IRB 6720 9
3HAC085697-001 Revision: C
© Copyright 2023 ABB. All rights reserved.
Overview of this manual

References
Documentation referred to in the manual, is listed in the table below.
Document IDDocument name
3HAC085698-001Product manual, spare parts - IRB 6720
3HAC085704-001Product specification - IRB 6720
3HAC088411-001Product manual - IRB DressPack IRB 6720
3HAC087112-001Product manual - OmniCore V250XT Type B
3HAC086333-001Circuit diagram - IRB 6710/IRB 6720/IRB 6730/IRB 6740
3HAC065041-001Technical reference manual - System parameters
3HAC050944-001Operating manual - Service Information System
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB.
Revisions
DescriptionRevision
First edition.A
Published in release 23C. The following updates are made in this revision:
• New tool for refitting the axis-4 cassette sealing added.
• Illustration of the most stable transporation position is updated.
B
Published in release 23D. The following updates are made in this revision:
• Updated information label part list.
C
10 Product manual - IRB 6720
3HAC085697-001 Revision: C
© Copyright 2023 ABB. All rights reserved.
Overview of this manual
Continued