ABB OmniCore IRB 6720 Manuals

Manuals and User Guides for ABB OmniCore IRB 6720. We have 1 ABB OmniCore IRB 6720 manual available for free PDF download: Product Manual

ABB OmniCore IRB 6720 Product Manual (640 pages)

Brand: ABB | Category: Robotics | Size: 38.63 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
29
Safety During Maintenance and Repair
30
Emergency Release of the Robot Axes
33
Brake Testing
34
Safety During Troubleshooting
35
Safety During Decommissioning
36
Manipulator Description
37
Technical Data
37
Working Range
41
The Unit Is Sensitive to ESD
53
Installation and Commissioning
55
Introduction to Installation and Commissioning
55
Unpacking
56
Pre-Installation Procedure
56
Risk of Tipping/Stability
57
On-Site Installation
59
Brief Installation Procedure
59
Installing a Base Plate
60
Lifting the Robot
68
Lifting Robot with Lifting Accessory (Recommended Lifting Method)
68
Lifting the Robot with Fork Lift
70
Lifting the Robot with Roundslings
71
Orienting and Securing the Robot
76
Manually Releasing the Brakes
79
Loads Fitted to the Robot, Stopping Time and Braking Distances
81
Fitting Equipment on the Robot (Robot Dimensions)
82
Working Range Alterations
91
Adjusting the Working Range
91
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)
92
Extended Working Range, Axis 1 (Option)
95
Electrical Connections
97
Robot Cabling and Connection Points
97
Test Run after Installation, Maintenance, or Repair
100
Maintenance
101
Introduction
101
Maintenance Schedule and Expected Component Life
102
Specification of Maintenance Intervals
102
Maintenance Schedule
103
Expected Component Life
105
Inspection Activities
106
Inspecting the Motor Seal
106
Inspecting the Balancing Device
108
Inspecting the Cable Harness
112
Inspecting the Dampers
115
Inspecting the Information Labels
117
Inspecting the Axis-1 Mechanical Stop
120
Inspecting the Oil Level in Axis-1 Gearbox
122
Inspecting the Oil Level in Axis-2 Gearbox
126
Inspecting the Oil Level in Axis-3 Gearbox
129
Inspecting the Oil Level in Axis-4 Gearbox
133
Inspecting the Oil Level in Axis-5 Gearbox
136
Inspecting the Oil Level in Axis-6 Gearbox
139
Replacement/Changing Activities
142
Type of Lubrication in Gearboxes
142
Changing the Oil in Axis-1 Gearbox
144
Changing the Oil in Axis-2 Gearbox
150
Changing the Oil in Axis-3 Gearbox
155
Changing the Oil in Axis-4 Gearbox
160
Changing the Oil in Axis-5 Gearbox
165
Changing the Oil in Axis-6 Gearbox
170
Replacing the SMB Battery
175
Lubrication Activities
178
Lubricating the Spherical Roller Bearing, Balancing Device
178
Cleaning Activities
180
Cleaning the IRB 6720
180
Repair
185
Introduction
185
General Procedures
186
Performing a Leak-Down Test
186
Mounting Instructions for Bearings
187
Mounting Instructions for Sealings
189
Cut the Paint or Surface on the Robot before Replacing Parts
193
Balancing Device
194
Replacing the Balancing Device
194
Replacing Spherical Roller Bearing, Balancing Device Link Ear
212
Replacing the Rear Bearings on the Balancing Device
227
Axes 3 and 4
239
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing
239
Wrist
266
Replacing the Wrist
266
Replacing the Turning Disc
286
Electronic Parts
291
Removing the Cable Harness
294
Refitting the Cable Harness
312
Replacing the Brake Release Unit
340
Replacing the SMB Unit
347
Motors
353
Replacing the Axis-1 Motor
353
Replacing the Axis-2 Motor
367
Replacing the Axis-3 Motor
383
Replacing the Axis-4 Motor
395
Replacing the Axis-5 Motor
408
Replacing the Axis-6 Motor
420
Gears
430
Replacing the Axis-1 Gearbox
430
Replacing the Axis-2 Gearbox
476
Replacing the Axis-3 Gearbox
519
Replacing the Axis-6 Gearbox
568
Introduction to Calibration
585
Introduction and Calibration Terminology
585
Calibration Methods
586
When to Calibrate
588
Synchronization Marks and Axis Movement Directions
589
Synchronization Marks and Synchronization Position for Axes
589
Calibration Movement Directions for All Axes
591
Updating Revolution Counters
592
Updating Revolution Counters on Omnicore Robots
592
Calibrating with Axis Calibration Method
593
Description of Axis Calibration
593
Calibration Tools for Axis Calibration
596
Installation Locations for the Calibration Tools
598
Axis Calibration - Running the Calibration Procedure
600
Reference Calibration
604
Verifying the Calibration
606
Checking the Synchronization Position
607
Troubleshooting
609
Introduction to Troubleshooting
609
Oil and Grease Stains on Motors and Gearboxes
611
Mechanical Noise or Dissonance
612
Manipulator Collapses on Power down
613
Decommissioning
615
Introduction to Decommissioning
615
Environmental Information
615
Scrapping of Robot
618
Decommissioning of Balancing Device
619
Reference Information
621
Introduction
621
Applicable Standards
622
Unit Conversion
623
Screw Joints
624
Weight Specifications
628
Standard Toolkit
629
Special Tools
630

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ABB OmniCore IRB 6720 Product Manual (640 pages)

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