Page 1 ROBOTICS Product manual IRB 6700Inv...
Page 2 Trace back information: Workspace 20D version a8 Checked in 2020-12-11 Skribenta version 5.3.075...
Page 3 Product manual IRB 6700Inv - 300/2.60 IRB 6700Inv - 245/2.90 IRC5 Document ID: 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved. Specifications subject to change without notice.
Page 4 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.
Page 5: Table Of Contents
Start of robot in cold environments ..............Maintenance Introduction ...................... Maintenance schedule and expected component life ..........3.2.1 Specification of maintenance intervals ............Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 6 Replacing the wrist ................. 4.5.3 Replacing the turning disc ................ 4.5.4 Replacing the process turning disc ............. 4.5.5 Replacing the lower arm ................Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 7 Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................Circuit diagrams Circuit diagrams ....................Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 9: Overview Of This Manual
Prerequisites Maintenance/repair/installation personnel working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Product manual scope The manual covers covers all variants and designs of the IRB 6700Inv. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
Page 10 This manual contains all safety instructions from the product manuals for the manipulators and the controllers. Revisions Revision Description First edition. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 11 Published in release R18.2. The following updates are made in this revi- sion: • Added article number for axis-3 pinion tool. • Adjustments in repair section. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 12 Pallet removed from required tools tables. Published in release 20D. The following updates are made in this revision: • Corrected article number for axis-6 gearbox o-ring. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 13: Product Documentation
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Page 14 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
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Page 17: Safety
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
Page 18: Requirements On Personnel
The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the product manual. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 19: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 20 Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 21: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 22 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 23 The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 24 Lifting of balancing device Center of gravity will cause the balancing device to tip over when released in the front ear. xx1700000520 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 25 The robot can move unexpectedly when floor standing. Always use transportation lock screw in floor standing position. xx1700000813 Brake release buttons xx0900000820 xx1000001140 Lifting bolt xx0900000821 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 26 Stored energy Warns that this part contains stored energy. Used in combination with Do not disassemble symbol. xx0900000825 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 27 Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 28: Robot Stopping Functions
The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - IRC5 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 29: Installation And Commissioning
Electrical safety The mains power must be installed to fulfill national regulations. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 30 The risk assessment should also consider other hazards, such as, but not limited • Water • Compressed air • Hydraulics Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 31 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 32: Operation
A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 34 Operating conditions, robot on page See safety instructions for the batteries in Material/product safety data sheet - Battery pack (3HAC043118-001). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 35 Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 36: Emergency Release Of The Robot Axes
Current arm load and position of the lower and upper arm determines the occurring movement when releasing the holding brakes of the axis-2 motor. Make sure no personnel is near or beneath the robot. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 37: Brake Testing
3 Inspect and verify that the axis maintains its position. If the manipulator does not change position as the motors are switched off, then the brake function is adequate. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 38: Troubleshooting
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
Page 39: Decommissioning
A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
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Page 41: Installation And Commissioning
(RCD) before starting any installation work. For more information see: • Product manual - IRC5 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 42: Unpacking
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work • conform to all national and local codes.
Page 43 These forces and torques are extreme values that are rarely encountered during operation. The values also never reach their maximum at the same time! Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 44 Minimum ambient temperature -25°C (-13°F) Maximum ambient temperature +55°C (+131°F) Maximum ambient temperature (less than 24 hrs) +70°C (+158°F) Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 45 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Standard IP67 Manipulator, protection type Foundry Plus IP67 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 46: Working Range
This illustration shows the unrestricted working range of the robot. 1812 2617 1321 Robot type Handling capacity Reach IRB 6700Inv 300 kg 2.60 m Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 47 This illustration shows the unrestricted working range of the robot. 2060 2864 1518 1057 Robot type Handling capacity Reach IRB 6700Inv 245 kg 2.90 m Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 48 Working range axis 2 and axis 3 for IRB 6700Inv-300/2.60 and -245/2.90 Limited in some areas to avoid collision with balancing. xx1700000510 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 49 2.2.2 Working range Continued Turning radius axis 1 xx1700000575 Robot variant R1 (mm) IRB 6700Inv - 300/2.60 2617 IRB 6700Inv - 245/2.90 2864 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 50: Risk Of Tipping/Stability
At delivery, the robot and the lower arm is already locked in the correct position with the transportation lock screw. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 51 Always use the transportation lock screw and sleeve to lock the lower arm at transportation, turning and floor standing. WARNING The robot will be mechanically unstable if not properly secured to the foundation. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 52: Main Dimensions
Robot variant LeanID LeanID IRB 6700Inv - 2372 1145 1718.5 1878.5 1212.5 222.5 300/2.60 IRB 6700Inv - 2372 1145 1968.5 2128.5 1468.5 222.5 245/2.90 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 53: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limit- ing resistor. Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 54: On-Site Transportation
Transportation in any other way can seriously damage the robot. If the robot is incorrectly transported and the instructions are not followed, the robot is not covered by the warranty and ABB will not accept any compensation claim. Method 1 - recommended method Transportation according to method 1 is strongly recommended by ABB.
Page 55: Securing The Robot Arm Position For Lift, Rotation And Transportation
3HAB3409-93 Stored at the parking posi- Screw, M16x120 tion on the robot frame. (class 12.9 or 8.8) xx1600002009 xx1600002008 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 56 Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000270 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 57 Storing the transportation lock screw when not in use Action Note Keep the transportation lock screw stored in the parking position when not in use. xx1600002008 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 58: On-Site Installation
Install required equipment, if any. • Signal lamp (option) on page 85 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 59: Lifting The Robot
User instructions for turning tool (enclosed with the turning tool) Lifting the robot Action Note Lift the robot according to the user instructions enclosed with the fork lift accessory. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 60: Lifting The Robot With Roundslings
Article number Note Overhead crane Lifting eye, M20 Working load limit: 2,000 kg. Roundsling, 2.5 m Lifting capacity: 2,000 kg. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 61 Fit lifting eyes to the outer holes on each corner of the base. xx1200001301 xx1200001302 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 62 All lifting accessories used must be sized accordingly! WARNING Personnel must not, under any circum- stances, be present under the suspended load! Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 64: Orienting, Rotating And Securing The Robot
45 H7 25 H8 0,12 0,12 D - D E - E xx1300000243 Description Holes for guide pins (x2) Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 65 Hole configuration, base on page 64 Attachment screws The foundation surface must be clean and un- on page painted. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 66 Always use the transportation lock screw and sleeve to lock the lower arm at transportation, turning and floor standing. xx1700000347 xx1600002114 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 67 Fasten the yellow sleeve and transportation lock Tightening torque: 70 Nm ±15 Nm. screw in its parking position. xx1700000270 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 68: Manually Releasing The Brakes
If the robot is not connected to the controller, power must be supplied to the connector R1.MP according to the section Supplying power to connector R1.MP on page Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 70: Loads Fitted To The Robot, Stopping Time And Braking Distances
The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification for the robot. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 71: Fitting Equipment To The Robot
R is the radius (m) from the center of axis 1 • M4 is the total mass (kg) of the equipment including bracket and harness (≤ 250 kg) Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 72 M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in the axis-3 extension. xx1400002019 Mass center Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 73 2 Installation and commissioning 2.4.6 Fitting equipment to the robot Continued xx1300000866 Center of gravity 50 kg Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 74 B - B xx1300000263 Allowed position for attachment holes, M12 through. Be careful not to touch the cables when drilling. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 75 IRB 6700Inv - 300/2.60 R=230 652.5 98.5 215.5 IRB 6700Inv - 245/2.90 R=230 652.5 98.5 215.5 Smallest circumscribed radius axis-4. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 76 IRB 6700Inv - 300/2.60 R=468 222.5 273.5 523.5 IRB 6700Inv - 245/2.90 R=468 222.5 273.5 523.5 Smallest circumscribed radius axis-3. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 77 C L C-D xx1300000280 Thread length: 18 mm. Fastener quality Use suitable screws and tightening torque for your application. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 78 Z-direction. 100 H7) 1x45 C - C xx1300000290 Thread length: 18 mm. Fastener quality Use suitable screws and tightening torque for your application. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 79: Restricting The Working Range
Never use these service stops as mechanical stops for restriction of the working range during operation. See Service stops on page 190. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 80: Mechanically Restricting The Working Range Of Axis 1
Equipment, etc. Article number Note Movable mechanical stop set, axis 1 3HAC048533-003 Includes attachment screws and (15°). an assembly drawing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 81 Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 82: Electrical Connections
Robot cable, power Power cable length Article number 3HAC026787-001 15 m 3HAC026787-002 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 83 There is a grounding/bonding point on the manipulator base. The grounding/bonding point is used for potential equalizing between control cabinet, manipulator and any peripheral devices. xx1500001600 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 84 3HAC022723-005 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Harness - cooling, 30 m 3HAC022723-006 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 85: Installation Of Options
The lamp is active in MOTORS ON mode. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 86: Installing The Motor Cooling Fan (Option)
Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Stand- ard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 87 Loosen the two tightening screws so they don´t damage the motor surface during installation. xx1800000159 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 88 Connecting the fan cabling Action Note Remove the rear cover plate. xx1800000161 Fit the customer connection plate. xx1800000162 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 89 Secure the cable bracket inside the frame with the two enclosed nuts. xx1800000166 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 91 Modify Controller System Wizard in the System Builder of RobotStu- dio. Read more about modifying the system in Operating manu- al - RobotStudio. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 92: Start Of Robot In Cold Environments
If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 93: Maintenance
(RCD) before starting any maintenance work. For more information see: • Product manual - IRC5 • Robot cabling and connection points on page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 94: Maintenance Schedule And Expected Component Life
40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.
Page 95: Maintenance Schedule
Inspecting the dampers page 138 Inspecting the axis-1 Inspecting the mechanical stop mechanical stop pin on page 133 Replacement/changing activities Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 96 The battery is to be replaced at given maintenance interval or at battery low alert. iv Always lubricate the front eye bearing after refitting the shaft of the balancing device. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 97: Expected Component Life
Deviations from this cycle will result in differences in expected life! The SIS for an IRC5 system is described in the Operating manual - Service Information System. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 98: Inspection Activities
Robots with protection type Foundry Plus have a transparent plug/sight glass installed in the evacuation holes. xx1800000101 xx1800000102 Protection filter (Standard). Transparent plug (Foundry Plus). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 100: Inspecting The Oil Level In Axis-1 Gearbox
The tool also includes an air vent. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 101 Open the oil plug and install the ventilating valve. xx1700000349 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 102 If the Fork lift accessory set is assembled, fasten the extender screw in the fork lift pocket. xx1700000314 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 103 Gearbox lubricants (oil or grease) on page Make sure that the oil temperature is +25°C ± 10°C. Open the oil plug. xx1500001655 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 104 144. Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 105: Inspecting The Oil Level In Axis-2 Gearbox
Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 106 151. Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 107: Inspecting The Oil Level In Axis-3 Gearbox
Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 108 Further information about how to drain or fill with oil is found in section Changing oil, axis-3 gearbox on page 157. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 109 Note Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 110: Inspecting The Oil Level In Axis-4 Gearbox
Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 111 Changing oil, axis-4 gearbox on page 162. Refit the oil plug. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 112 3.3.5 Inspecting the oil level in axis-4 gearbox Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 113: Inspecting The Oil Level In Axis-5 Gearbox
Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 114 166. Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 115: Inspecting The Oil Level In Axis-6 Gearbox
Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 116 • Required oil level is: 50 mm ± 5 mm below the sealing surface of the oil plug. xx1300000693 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 117 170. Refit the oil plug. Tightening torque: 24 Nm. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 118: Inspecting The Balancing Device
Piston rod (inside balancing device) Link ear Rear attachments of the balancing device (rear bearing) Required tools Visual inspection, no tools are required. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 120 Required material on page 119. Replacement of the complete bearing is described in section Replacing the balancing device on page 409. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 121 Keep the areas around the balancing device clean and free from objects, such as service tools. xx1300000423 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 122: Inspecting The Cable Harness
The cable harness is located as shown in the figure. xx1600002063 Required tools Visual inspection, no tools are needed. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 123 Ensure that the cables are un- damaged. Remove any objects that may cause pos- sible cable chafing. Replace damaged cabling, if any. xx1300001094 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 124 3.3.9 Inspecting the cable harness Continued Action Note Replace the cable harness if wear, cracks Removing the cable harness on or damage is detected. page 211. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 125: Inspecting The Information Labels
These figures show the location of the information labels to be inspected. The symbols are described in section Safety symbols on manipulator labels on page Illustration 1 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 126 3 Maintenance 3.3.10 Inspecting the information labels Continued Illustration 2 Illustration 3 xx1600002059 Description Illustration Calibration label Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 127 Oil specification label Grease specification label Complete oil specification Warning label Do not dismantle Stored energy 3HAC 9526-1/04 xx1300001086 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 128 Keep areas around the balancing device free from objects 3HAC 020611-001/ 03 xx1300001090 Warning label Flash xx1300001091 Rating label Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 129 The robot can move unexpectedly when floor standing. Always use transportation lock screw in floor standing position. 3HAC062777-001 xx1700000814 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 130 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Spare parts on page 721. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 131: Inspecting The Transportation Lock Screw
Required tools Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 132 Check the tightening torque. Tightening torque: 75 Nm±15 Nm Always keep the transportation lock screw and sleeve in the parking position when not in use. xx1600002008 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 133: Inspecting The Axis-1 Mechanical Stop Pin
If the mechanical stop pin is bent or damaged, it must be replaced. Note The expected life of gearboxes can be reduced after collision with the mechanical stop. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 134: Inspecting The Additional Mechanical Stops
• Document for mechanical stop Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 135 Article number is specified in be replaced. Required equipment on page 134. Correct attachment screws: • M12x70 quality 12.9 Gleitmo 603 (2 pcs per additional mechanical stop) Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 136: Inspecting The Fork Lift Accessory
713. Inspection The fork lift accessory shall be inspected regularly according to Standard SS 7685006 Periodical Inspection. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 137 Correct attachments: • Screw M16x50 12.9 Gleitmo 603 (2x10 pcs) • Washer 17x25, 3 mm thick (2x10 pcs) Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 138: Inspecting The Dampers
Visual inspection, no tools are required. Inspecting, dampers The procedure below details how to inspect the dampers. Note A damaged damper must be replaced. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 139 Spare part number is found in Product replaced with a new one. manual, spare parts - IRB 6700/IRB 6700Inv. Attachment screws: M6x60. Locking liquid: Loctite 243. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 140: Inspecting The Signal Lamp (Option)
Use this procedure to inspect the function of the signal lamp. Action Note Inspect that signal lamp is lit when motors are put in operation ("MOTORS ON"). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 142: Replacement/Changing Activities
Technical reference manual - Lubrication in gearboxes available for registered users on myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 143 Assemble the extender to be able to use the oil level gauge when the fork lift accessories are mounted. The tool also includes an air vent. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 144: Changing Oil, Axis-1 Gearbox
The oil plugs of the gearbox is located as shown in the figure. xx1600002030 A, B Oil plug, Tightening torque: 24 Nm Used for both filling, ventilation and level measurement. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 145 WARNING Handling gearbox oil involves several safety risks, Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 146 DANGER Make sure all safety requirements are met when performing the first test run. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 147 Remove the protective cap from the nipple of the oil hole and connect the oil dis- penser. xx1200000948 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 148 • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 149 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 150 The robot color can otherwise be discolored. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 151: Changing Oil, Axis-2 Gearbox
Information about the oil is found in Technical refer- ence manual - Lubrication in gearboxes. Type and amount of oil in gearboxes on page 142. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 152 The gearbox can contain an excess pres- sure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 153 If the robot has been taken down to floor standing, for example due to axis-2 gear- box replacement, refer to the below figure instead. xx1200000951 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 154 1 Remove the oil dispenser 2 Refit the protective cap on the nipple. 3 Refit the vent hole plug. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 155 Remove the plug from the vent hole. Note The vent hole is opened to let air out during the filling process. xx1600002044 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 156 Refit the protective cap on the nipple. Refit the level plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 157: Changing Oil, Axis-3 Gearbox
Information about the oil is found in Technical refer- ence manual - Lubrication in gearboxes. Type and amount of oil in gearboxes on page 142. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 158 Remove the protective cap from the nipple of the oil hole and connect the oil dis- penser. xx1600002145 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 159 Axis 2: 0° • Axis 3: 180° (horizontal) • Axis 4: • Axis 5: • Axis 6: no significance Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 160 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 161 Refit the protective cap on the nipple. Refit the level plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 162: Changing Oil, Axis-4 Gearbox
Type and amount of oil in gearboxes on page 142. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 163 Remove the oil plug from the drain hole and let the oil run into the vessel. xx1700000010 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 164 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 165 111. Refit the oil plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 166: Changing Oil, Axis-5 Gearbox
Draining the axis-5 gearbox Use this procedure to drain the gearbox. Action Note Jog axis-2 to 0°, and axis-4 to 180°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 167 Decommissioning on page 699 for more in- formation. Refill oil or refit the oil plug. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 168 More information is found in Inspecting the oil level in axis-5 gearbox on page 114. Refit the oil plug. Tightening torque: 24 Nm Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 169 3 Maintenance 3.4.6 Changing oil, axis-5 gearbox Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 170: Changing Oil, Axis-6 Gearbox
- Lubrication in gearboxes Draining the axis-6 gearbox Use this procedure to drain the gearbox. Action Note Jog axis-4 to 180°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 171 Remove the oil plug from the fill hole. Note The fill hole is opened to speed up the drainage. xx1200000963 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 172 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 173 Refit the oil plug. Tightening torque: 24 Nm DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 174: Replacing The Smb Battery
Required tools Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 175 Pull out the battery and disconnect the battery xx1700000045 cable. Remove the SMB battery. Battery includes protection circuits. Only replace with a specified spare part or with an ABB- ap- proved equivalent. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L...
Page 176 Update the revolution counters. Updating revolution counters on page 680. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 177: Lubrication Activities
• hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 179: Cleaning Activities
Never point the water jet at connectors, joints, sealings, or gaskets. • Do not use compressed air to clean the robot. • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. •...
Page 180 Typical tap water pressure and flow Instructions for steam or high pressure water cleaning ABB robots with protection types Foundry Plus, Wash, or Foundry Prime can be cleaned using a steam cleaner or high pressure water cleaner. The following list defines the prerequisites: •...
Page 181 Cooling fans Inspect the air supply inlet of the the motor cooling fans. Clean to remove any contamination that could hinder the air supply. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 182 This page is intentionally left blank...
Page 183: Repair
Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 6700Inv, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 184: General Procedures
Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 185: Mounting Instructions For Bearings
Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 186 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 187: Mounting Instructions For Sealings
A Main lip B Grease C Dust lip Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 188 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
Page 189 Lubricate the o-ring with grease. Tighten the screws evenly while assembling. Check that the o-ring is not squashed outside the o-ring groove. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 190: Service Stops
DANGER Only use the service stops when the information is given in the repair activities. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 191 The service stops shown in the figure are located in their parking positions. xx1700000576 Required tools Spare part Article number Note Service stop 3HAC058167-001 Screws: 3HAB3409-88 Tightening torque: 70 Nm ±15 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 192: Dismantle And Mounting Tool, 3Hac028920-001
The procedure specifies which tool part to be used. The complete tool set (3HAC028920-001), as follows. xx1700000383 Part A (hydraulic cylinder) is ordered separately, 3HAC11731-1. Hydraulic pump is ordered separately, 3HAC13086-1. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 193: Cut The Paint Or Surface On The Robot Before Replacing Parts
Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 194: The Brake Release Buttons May Be Jammed After Service Work
If a button gets jammed in the depressed position, the alignment of the brake release unit must be adjusted so that the buttons can move freely in their tubes. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 195: Lifting Associated Procedures
• frame, including the balancing device. Attachment points of lifting accessory If using the Lifting accessory (chain) Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 196 In order to rotate the robot, either use the turning tool or a fork lift truck with a rotator attachment. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 197 All lifting accessories used must be sized accord- ingly! Fit a lifting eye to the wrist. Lifting eye, M12: 3HAC16131-1 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 198 200. Con- venient if the tool is already partly mounted on the robot after rotation from inverted position to floor-standing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 199 Make sure the roundsling is stretched, so it can carry the weight of the frame. The position of axis 3 will be approximately -45°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 200 Shorten the chain to make the lift horizontal. Fit a roundsling between the overhead crane hook and the lifting eye in the arm house. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 201: Attaching Lifting Accessories To An Un-Separated Lower And Upper Arm
Turning tool 3HAC061162-001 User instructions are enclosed. Lifting eye, M12 3HAC16131-1 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 202 • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 203 To release the brake, connect the 24 VDC power supply. Connect to connector R2.MP2, axis-2 motor: • + = pin 2 • - = pin 5 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 204: Attaching Lifting Accessories To The Upper Arm
Axis-3: -143 (so that the upper arm is hori- zontal) • Axis-4: 0° • Axis-5: -90° • Axis-6: 0° xx1700000450 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 205 (or similar) and then to the lifting eye in the wrist. Note Lifting slings are used instead of lifting chains to not damage the balancing device surface. xx1700000693 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 206 Raise the lifting accessories to take the weight of the upper arm. Remove the lifting sling between the upper arm and the balancing device. xx1800000047 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 207: Lifting Down The Robot From Inverted Position
Securing the lower arm Use this procedure to secure the lower arm. Action Note Jog axis 2 to -35°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 208 Verify that the lower arm is secured with the transportation lock screw. Remove any payload and tools from the robot. DressPack can stay fitted. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 209 Two M16 screws can be fitted to the fork lift pockets, to press the forks against the pockets and make the lift more stable. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 211: Complete Robot
Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 212 Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 213 If only the manipulator harness shall be removed, the DressPack cable package can stay fitted on the process turning disk. xx1400000208 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 214 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 215 If removing the plate only for replacing the motor, the cabling does not need to be loosened from the plate. xx1500001029 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 216 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 217 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 218 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 219 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 220 The motor shall be refitted in the same position. xx1200001067 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 222 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx1300000557 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 223 The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx1300000543 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 224 Cable guide. xx1300000544 Cable fixing bracket. Remove the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 225 • Together: Move the cable harness Person 2, working at the back: out of the arm tube. xx1400002561 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 226 Remove the base cover. xx1300000561 Disconnect connectors: • R1.MP • R1.SMB xx1300000591 If used, disconnect the DressPack hoses in the base. xx1400000366 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 227 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 228 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 229 Clean cover from metal residues before opening. Metal residues can cause shortage on the boards which can result in hazardous failures. xx1300000669 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 230 Pull out the robot cable harness through the protection tube. xx1300000732 Place the cable harness over the balancing device. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 231 Cut the cable tie inside the frame recess. xx1200001237 Disconnect connectors on the SMB unit. xx1300001114 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 232 Use caution and pull out the cable harness from the SMB recess. Note The parts are sealed with Sikaflex. Remove the part carefully. xx1300000560 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 233 Note The screws are reached from the outside of the lower arm. xx1300000540 Use caution and pull the cable harness out. xx1300000733 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 234: Refitting The Cable Harness
Product manual, spare parts - IRB 6790 Cover insert 3HAC048520-001 Replace if damaged. Cable protection, PU rubber 3HAC055411-001 Replace if damaged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 235 • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 236 Run the cable harness into the hole in the frame in this order: • R1.MP • R1.SMB • R2.MP2 • R2.MP1 xx1300000735 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 237 Connect connectors R1.MP and R1.SMB. Tightening torque for R1.SMB: 10 Nm. xx1300000591 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 238 If used, fit the bracket that hold the DressPack to the frame. xx1400000078 If used, connect the DressPack cable package on the base plate. xx1200000052 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 239 Apply Sikaflex on the o-ring before as- sembly. Run the SMB/BU cables into the SMB re- cess. xx1300000560 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 240 Secure the SMB/BU cover with its attach- Screws: 3 pcs. ment screws from inside the SMB/BU re- cess. xx1300000655 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 241 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section The unit is sensitive to ESD on page 53 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 242 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 243 Reconnecting the axis-1 and axis-2 motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 244 O-ring, axis-2: 3HAC054692-002 Note O-ring, axis-3: 3HAC054692-002 O-ring, axis-4: 3HAC054692-001 Replace if damaged. xx1200001070 Wipe clean o-ring and o-ring groove. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 245 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 247 Fasten the yellow sleeve and transportation lock Tightening torque: 70 Nm ±15 Nm. screw in its parking position. xx1700000270 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 248 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 249 DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx1400000356 xx1300000820 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 250 Refit the metal clamp axis-4, inside the arm tube. Note The screws are reached from outside the upper arm. xx1700000340 xx1700000339 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 251 DressPack cable package through the hole in the upper arm. xx1700000690 If used, refit the tube containing the DressPack into the insert. xx1400000092 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 252 Make sure the gasket is fitted cor- rectly • Use attachment screws made of stainless steel to fit the cover. xx1200000045 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 253 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 254 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 255 Tighten the inner screw. Make sure that the gasket is not damaged. Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 256 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 257 Secure the cable harness with cable straps to the heat protection plate. xx1500001029 Fit the heat protection plate with the Screws: M5x12. screws. xx1500001030 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 258 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Push the carrier carefully into position. xx1300001113 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 259 Reconnect the connectors to the axis-6 motor. Note Place the resolver cable under the motor cable. xx1300000488 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 260 Make sure that the cable harness is placed in a way that it will not be damaged when the wrist cover is fitted. xx1600002061 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 261 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 262: Replacing The Smb
Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 263 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section unit is sensitive to ESD on page 53 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 264 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 265 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 266 The unit is sensitive to ESD on page 53 Reconnect the battery cable. Place the battery in the recess. xx1300000829 Refit the battery cover. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 267 Update the revolution counters. Updating revolution counters on page 680. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 268: Replacing The Brake Release Unit
Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 269 If the battery stays connected, put (or hold) the SMB cover in a safe position. The battery cable connectors can otherwise be damaged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 270 Remove the bracket with the brake release unit fitted. Remove the brake release unit from the bracket. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 271 Refit the SMB cover with its attachment screws. Note Do not refit the push button guard at this point! xx1300000742 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 272 Update the revolution counters if the battery has been Updating revolution counters disconnected. on page 680. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 273: Upper And Lower Arms
Used on axis-3 motor cover. 3HAC054692-001 D=119x3 O-ring Used on axis-4 motor cover. 3HAC054692-001 D=119x3 Used on axis-5 motor cover. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 274 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 275 Remove the service stops from their park- ing position. xx1700000448 Fit the service stops in maintenance posi- Tightening torque: 70 Nm ±15 Nm. tion. xx1700000449 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 276 This is done to be able to reach the two hidden screws that secure the wrist cover. xx1400000355 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 277 Remove the wrist cover. xx1300002247 Remove the heat protection plates from the motor with the cabling still attached to the plate. xx1500001030 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 278 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 279 The motor shall be refitted in the same position. xx1300000656 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 280 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 281 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 282 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 283 If the cabling is to be replaced by a new cable harness, remove the cover insert to use it on the new cabling. xx1700001803 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 284 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 285 The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx1300000543 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 286 Cable guide. xx1300000544 Cable fixing bracket. Remove the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 287 • Together: Move the cable harness Person 2, working at the back: out of the arm tube. xx1400002561 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 288 Raise the lifting accessories to take the weight of the upper arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 289 Leave one of the remaining attachment screws fitted, remove the other screws. xx1700000458 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 291 24h.) arm as shown in the figure. CAUTION Keep the sealing surfaces clean from Mer- casol. xx1700001880 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 292 Use the pinion to rotate the axis-3 gearbox to find the correct position for the guide pins in the lower arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 293 Refitting the cable harness - upper arm Action Note Refit the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 294 Make sure all three washers are fitted. xx1400000382 A Gasket B Cable guide C Washer D Cover Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 295 DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx1400000356 xx1300000820 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 296 Refit the metal clamp axis-4, inside the arm tube. Note The screws are reached from outside the upper arm. xx1700000340 xx1700000339 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 297 DressPack cable package through the hole in the upper arm. xx1700000690 If used, refit the tube containing the DressPack into the insert. xx1400000092 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 298 Make sure the gasket is fitted cor- rectly • Use attachment screws made of stainless steel to fit the cover. xx1200000045 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 299 Connecting the axis-3 and axis-4 motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 300 O-ring, axis-2: 3HAC054692-002 Note O-ring, axis-3: 3HAC054692-002 O-ring, axis-4: 3HAC054692-001 Replace if damaged. xx1200001070 Wipe clean o-ring and o-ring groove. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 301 Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 302 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 303 Secure the cable harness with cable straps to the heat protection plate. xx1500001029 Fit the heat protection plate with the Screws: M5x12. screws. xx1500001030 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 304 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Push the carrier carefully into position. xx1300001113 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 305 Reconnect the connectors to the axis-6 motor. Note Place the resolver cable under the motor cable. xx1300000488 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 306 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 307 4 Move the upper part of the cover into position. 5 Secure the cover with its attachment screws. xx1300000772 Remove the lifting accessories. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 308 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 309: Replacing The Wrist
Do not, under any circumstances, open the cover on the axis-5 gearbox! It is strictly forbidden to do any repair work on the axis-5 gearbox. xx1300002248 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 310 Used on axis-6 motor cover. Rust preventive 3HAC034903-001 Mercasol 3110 Waxcoat. Re- commended drying time is 24h. Used on Foundry Plus. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 311 Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 312 Prepare a pallet with cardboard in front of the robot or where it is possible, to be used for putting down the wrist unit on. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 313 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Remove the wrist cover. xx1300002247 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 314 Unscrew the attachment screws and re- move the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 315 Unscrew the M4 screw that holds the carri- Note The screw is located at the bottom of the carrier. xx1300000485 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 316 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 317 The motor shall be refitted in the same position. xx1300000656 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 318 Removing the wrist Action Note If used, remove the bracket with the part of the ball joint housing still fitted. xx1700000691 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 319 Make sure that the cabling does not get damaged. xx1300000750 Use caution and pull out the cabling from the wrist unit. xx1300000769 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 320 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the wrist slide better. xx1700001595 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 321 Leave a small opening between wrist and arm tube. This will make it easier to run the cable harness back into the wrist. xx1300000770 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 322 Remove the guide pins and replace them with the remaining attachment screws and washers. xx1300000748 Tighten the attachment screws. Tightening torque: 120 Nm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 323 Replace the gasket if damaged. xx1200001016 Connect the connectors. Connect in accordance with the markings on the connectors. xx1200001015 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 324 Make sure the o-ring is undamaged and xx1200001013 properly fitted. Secure the cable harness with cable straps to the heat protection plate. xx1500001029 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 325 5 manually to +90°. Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 326 Secure the cable bracket with its attach- ment screws. xx1300000484 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 327 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 328 5 Secure the cover with its attachment screws. xx1300000772 Foundry Plus: Refit protection plugs. If used, refit the DressPack cable package on the wrist. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 329 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 330: Replacing The Turning Disc
Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 331 Action Note Remove the screws and washers, that se- cure the turning disc. xx1400002195 Remove the turning disc. xx1300000493 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 332 Use the holes closest to the synchronization Use the holes at the back end of the synchron- mark. ization plate. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 333 Washers: Steel (21 pcs) xx1400002195 Concluding procedure Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 334: Replacing The Process Turning Disc
Action Note Run the robot to a position most comfort- able for the removal of the process turning disc. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 335 IRB 6700Inv - 300/2.60 M10x25 21 pcs 21 pcs 70 Nm IRB 6700Inv - 245/2.90 M10x25 21 pcs 21 pcs 70 Nm Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 336 Gleitmo 603, (21 pcs) Washers: Steel (21 pcs) Concluding procedure Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 337: Replacing The Lower Arm
4 Remove the cabling from the upper and lower arm. 5 Remove the upper arm. 6 Replace the lower arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 338 Used for removing and fitting shaft and bearings. Threaded bar, M16x340 Hydraulic cylinder 3HAC11731-1 To be used with the press tool. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 339 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 340 Jog axis 2 to -35°. Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000270 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 341 • Axis 3: +65° • Axis 4: 0° • Axis 5: +60° • Axis 6: no significance xx1700000555 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 342 Fol- rotator attachment. low the user instructions enclosed with the turning tool. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 343 Fit the transportation lock screw and the yellow sleeve in their parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 344 DANGER Do not remove the relief screws when the balan- cing device is removed from the robot. xx1700000070 xx1700000560 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 345 All lifting accessories used must be sized accord- ingly. Fasten lifting shackles on the balancing device. SA-10-8-NA1 (2 pcs) xx1700000086 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 346 Make sure that the lifting accessories hold the weight of the balancing device. Use high pressure air to remove the VK covers. xx1700000088 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 347 Jog axis 5 to horizontal position later on, when +90°. the arm is lifted away from the ro- bot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 348 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 349 If removing the plate only for replacing the motor, the cabling does not need to be loosened from the plate. xx1500001029 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 350 DressPack. xx1400000195 If used, unscrew the screws that hold the connection plate and let the DressPack hang free. xx1200001332 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 351 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 352 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 353 The motor shall be refitted in the same position. xx1300000656 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 354 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 355 Pull out the axis-6 motor cables by holding the cables with one hand at the motor and the other at the carrier. xx1300000666 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 357 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx1300000557 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 358 The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx1300000543 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 359 Cable guide. xx1300000544 Cable fixing bracket. Remove the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 360 • Together: Move the cable harness Person 2, working at the back: out of the arm tube. xx1400002561 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 361 Raise the lifting accessories to take the weight of the upper arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 362 Leave one of the remaining attachment screws fitted, remove the other screws. xx1700000458 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 364 Note The screws are reached from outside the lower arm! xx1300000540 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 365 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the lower arm slide better. xx1400002181 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 366 3110 Waxcoat. Recommended drying time is 24h.). CAUTION Keep the sealing surfaces clean from Mer- casol. xx1700001879 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 367 Fit one attachment screw in one of the up- per holes using it for security and lower the lifting accessory a little. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 368 Remove the lifting accessory from the lower arm. Preparations before refitting the upper arm Action Note Wipe clean all contact surfaces. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 369 Attaching lifting accessories to the fitted. upper arm on page 204. Lift the upper arm and bring it towards the lower arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 370 Secure the upper arm by tightening the at- M16, tightening torque: 300 Nm tachment screws. Refit the axis-3 synchronization mark plate. xx1700000694 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 371 Note The screws are reached from the outside of the lower arm. xx1300000734 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 372 Refitting the cable harness - upper arm Action Note Refit the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 373 Make sure all three washers are fitted. xx1400000382 A Gasket B Cable guide C Washer D Cover Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 374 DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx1400000356 xx1300000820 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 375 Refit the metal clamp axis-4, inside the arm tube. Note The screws are reached from outside the upper arm. xx1700000340 xx1700000339 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 376 DressPack cable package through the hole in the upper arm. xx1700000690 If used, refit the tube containing the DressPack into the insert. xx1400000092 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 377 Make sure the gasket is fitted cor- rectly • Use attachment screws made of stainless steel to fit the cover. xx1200000045 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 378 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 379 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 380 Tighten the inner screw. Make sure that the gasket is not damaged. Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 381 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 382 Secure the cable harness with cable straps to the heat protection plate. xx1500001029 Fit the heat protection plate with the Screws: M5x12. screws. xx1500001030 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 383 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Push the carrier carefully into position. xx1300001113 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 384 Reconnect the connectors to the axis-6 motor. Note Place the resolver cable under the motor cable. xx1300000488 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 385 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 386 Make sure that the cable harness is placed so it will not be damaged when the wrist cover is fitted. xx1600002061 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 387 Refit the bracket with the ball joint housing to the upper arm tube. • Refit the process turning disk. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 388 Refit the connection plate. xx1200001332 If used, refit the DressPack in the ball joint housings on the lower arm. xx1400000195 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 389 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx1200001280 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 390 Tightening torque: 180 Nm xx1200001279 Fit the protection plug or a new VK-cover (de- pends on shaft version). xx1700000088 xx1900002311 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 391 Remove the relief screws to activate the balancing device. Note Axis 2 must be in -4°. xx1700000070 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 392 Axis 6: no significance 600 50 xx1600001371 Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 393 Fasten the fork lift accessory. See user instructions enclosed with the fork lift accessory. Fork lift accessory set: 3HAC058825-001. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 394 Remove the yellow sleeve and transportation lock screw from the transportation and turning position. xx1700000269 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 395 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 396: Frame And Base
The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6700Inv via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 397 Bearing grease 3HAC042536-001 Shell Gadus S2 Used for lubrication of the spher- ical roller bearing. Locking liquid 3HAB7116-1 Loctite 243 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 398 Jog the robot into position: • Axis 1: +25° • Axis 2: +15° • Axis 3, 4, 5, 6: no significance Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 399 Fasten a lifting eye in the robot foot (above the balancing device). xx1700000711 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 400 The balancing device is heavy at the back, and will tip over when the link ear is loosened. xx1700000089 xx1700000322 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 401 Unscrew the attachment screws securing the end cover, remove end cover and radial sealing with a screwdriver. xx1300000774 Remove the o-ring. xx1300000775 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 402 Refitting the spherical roller bearing, link ear Action Note Wipe clean all contact surfaces from resid- ual grease. Refit the washer. xx1300000778 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 403 DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 404 Release the chain block to raise the front link ear on the balancing device. xx1700000712 Align the front link ear and the spherical roller bearing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 405 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx1200001280 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 406 Tightening torque: 180 Nm xx1200001279 Fit the protection plug or a new VK-cover (de- pends on shaft version). xx1700000088 xx1900002311 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 407 Remove the lifting eye in robot foot. xx1700000711 Remove the lifting sling. Remove the lifting shackle on the balancing device. xx1700000701 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 408 Axis 2 must be in -4°. xx1700000070 Refit the covers. Make sure that the o-rings are still fitted. Note Only manual force is required, no tightening torque. xx1700000451 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 409: Replacing The Balancing Device
2 Unload the balancing device. 3 Replace the balancing device. 4 Lift up and rotate the robot to inverted position. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 410 Used for lubrication of the bearings at the cradle. Bearing grease 3HAC042536-001 Shell Gadus S2 Used for lubrication of the spherical roller bearing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 411 Securing the lower arm Use this procedure to secure the lower arm. Action Note Jog axis 2 to -35°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 412 Verify that the lower arm is secured with the transportation lock screw. Remove any payload and tools from the robot. DressPack can stay fitted. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 413 Two M16 screws can be fitted to the fork lift pockets, to press the forks against the pockets and make the lift more stable. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 414 Remove the two service stops from their parking position. xx1700000067 Fit the service stops in maintenance position. Tightening torque: 70 Nm ±15 Nm. xx1700000068 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 415 Remove the covers on the balancing device. Note The covers have to be refitted after repair or maintenance. xx1700000451 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 416 • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 417 SA-10-8-NA1 (2 pcs) xx1700000086 Fasten the lifting slings. Roundsling, 1 m (2 pcs) Lifting ca- pacity: 1,000 kg. xx1700000087 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 418 (or similar) through the VK cover, as close as possible to the center of the VK cover and pull it out. xx1700000088 xx1900002311 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 419 Use high pressure air to remove the VK covers. xx1700000091 Wipe off all residual grease inside the recess. Loosen the attachment screws. xx1700000093 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 420 Use the dismantle and mounting tool and pull the Dismantle and mounting tool set: shaft out. 3HAC028920-001 xx1700000090 Remove attachment screws and washers at the cradle. xx1700000094 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 421 The weight of the balancing device (excluding cradle) is 305 kg All lifting accessories used must be sized accord- ingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 422 The balancing device is heavy at the back, and will tip over when the link ear is loosened. 3HAC059516-001 (2) xx1600002060 xx1700000322 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 423 Press the shafts into position one at a time. Dismantle and mounting tool set 3HAC028920-001 xx1700000406 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 425 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx1200001280 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 426 Tightening torque: 180 Nm xx1200001279 Fit the protection plug or a new VK-cover (de- pends on shaft version). xx1700000088 xx1900002311 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 427 Remove the relief screws to activate the balancing device. Note Axis 2 must be in -4°. xx1700000070 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 428 Axis 6: no significance 600 50 xx1600001371 Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 429 Fasten the fork lift accessory. See user instructions enclosed with the fork lift accessory. Fork lift accessory set: 3HAC058825-001. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 430 Remove the yellow sleeve and transportation lock screw from the transportation and turning position. xx1700000269 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 431 4.6.2 Replacing the balancing device Continued Action Note Fasten the yellow sleeve and transportation lock Tightening torque: 70 Nm ±15 Nm. screw in its parking position. xx1700000270 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 432: Replacing The Rear Bearings On The Balancing Device
Article number Note Maintenance kit, cradle 3HAC048834-001 The maintenance kit contains bearings, radial sealings, retain- ing rings, and VK covers. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 433 Jog axis 2 to -35°. Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000270 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 434 • Axis 3: +65° • Axis 4: 0° • Axis 5: +60° • Axis 6: no significance xx1700000555 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 435 Fol- rotator attachment. low the user instructions enclosed with the turning tool. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 436 Fit the transportation lock screw and the yellow sleeve in their parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 437 DANGER Do not remove the relief screws when the balan- cing device is removed from the robot. xx1700000070 xx1700000560 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 438 All lifting accessories used must be sized accord- ingly. Fasten lifting shackles on the balancing device. SA-10-8-NA1 (2 pcs) xx1700000086 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 439 Removing the shaft end and rear bearings Note Remove one shaft end and one bearing at a time. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 440 Put a big screw driver between the cradle and balancing device and use it as a distance tool. xx1300000838 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 441 See the fig- ure. xx1400000367 A Mercasol (red dotted lines) B Balancing device C Shaft Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 442 Use caution and put sealing ring, radial sealing, spacer and groove ball bearing onto the shaft end manually. xx1300000830 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 443 Put the shaft end with the fitted parts, on the threaded bar. Manually press the shaft end into the cradle a little. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 444 Remove the press tool and the threaded bar. Fit the retaining ring bore. xx1700000343 Apply locking liquid on the attachment Loctite 243, 3HAB7116-1 screw. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 445 Remove the relief screws to activate the balancing device. Note Axis 2 must be in -4°. xx1700000070 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 446 Axis 6: no significance 600 50 xx1600001371 Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 447 Fasten the fork lift accessory. See user instructions enclosed with the fork lift accessory. Fork lift accessory set: 3HAC058825-001. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 448 Remove the yellow sleeve and transportation lock screw from the transportation and turning position. xx1700000269 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 449 4.6.3 Replacing the rear bearings on the balancing device Continued Action Note Fasten the yellow sleeve and transportation lock Tightening torque: 70 Nm ±15 Nm. screw in its parking position. xx1700000270 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 450: Replacing The Stop Pin
Locking liquid 3HAB7116-1 Loctite 243 Foundry plus: 3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Rust preventive Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 451 Hold the mechanical stop pin in a firm grip. Remove the set screw, cup point. xx1700000356 Remove the stop pin. xx1700000358 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 452 Fit the stop pin. xx1700000358 Apply locking liquid on the set screw, and Loctite 243 secure the stop pin. Set screw: M10x20 xx1700000356 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 453: Motors
Product manual, spare parts - IRB 6790 Consumables Equipment, etc. Article number Note Grease 3HAC042536-001 Used to lubricate o-rings, Shell Gadus Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 454 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 455 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 456 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 458 Remove the two shown motor screws and wash- Bits extender, 3HAC12342-1 ers. xx1700000368 Raise the revolving handle to fit the motor on the tool shelf. xx1700000367 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 460 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 461 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Attaching the removal tool Action Note Foundry plus: Remove the plastic plugs. xx1700000364 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 462 Fasten lifting eyes in two of the fastening holes Lifting eye, M12, 3HAC16131-1 on the motor. Use a roundsling to lift the motor. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 463 Perform a leak-down test (if not already done). Performing a leak-down test on page 184. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 464 Refit the plastic plugs. xx1700000364 Connecting the motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 465 O-ring, axis-2: 3HAC054692-002 Note O-ring, axis-3: 3HAC054692-002 O-ring, axis-4: 3HAC054692-001 Replace if damaged. xx1200001070 Wipe clean o-ring and o-ring groove. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 466 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 467: Replacing The Axis-2 Motor
- IRB 6790 Consumables Equipment, etc. Article number Note Grease 3HAC042536-001 Shell Gadus S2 Used to lubricate o-rings. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 468 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 469 Note Tighten the lock screw manually, no tools needed. xx1700000513 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 470 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 471 Connect to connector R2.MP2, axis-2 mo- tor: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 473 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 474 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 475 Fit two of the attachment screws and Screws: M10x40 quality 12.9 Gleitmo washers. Remove the guide pins and replace with the remaining attachment screws. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 476 Performing a leak-down test on page 184. Connecting the motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 477 O-ring, axis-2: 3HAC054692-002 Note O-ring, axis-3: 3HAC054692-002 O-ring, axis-4: 3HAC054692-001 Replace if damaged. xx1200001070 Wipe clean o-ring and o-ring groove. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 478 Concluding procedure Action Note Use caution and jog axis-2 a little to facilit- ate the removal of the lock screw. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 479 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 480: Replacing The Axis-3 Motor
The chain block included in the turning tool for the robot can be used (Turning tool: 3HAC061162-001). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 481 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 482 The figure shows the third method of secur- ing the upper arm weight. xx1700000360 A Lifting eye, M12 B Chain block C Roundsling, 1 m Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 483 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 484 To release the brakes, connect the 24 VDC power supply. Connect to connector R2.MP3: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 485 CAUTION The motor weighs 26 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 486 Wipe clean the contact surfaces and the o-ring groove. Check the o-ring. Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 487 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 488 Apply the lifting accessories to the motor. Lifting accessory, motor: 3HAC15534-1 Note Make sure the cable gland exit is turned ac- cording to figure. xx1700000273 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 489 Do not damage the motor pinion. Fit two of the attachment screws and wash- Screws: M10x30 quality 12.9 Gleitmo ers. xx1700000259 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 490 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 491 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 492 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 493: Replacing The Axis-4 Motor
Shell Gadus S2 Used to lubricate o-rings. O-ring 3HAC054692-001 D=119x3 Used on motor cover. O-ring 3HAB3772-107 D=102x3 Used on motor flange. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 494 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 495 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 496 Use caution and pull out the motor cables. Removing the axis-4 motor Action Note CAUTION Use caution when releasing the brakes! Axis-4 can move unexpectedly! Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 497 The motor weighs 13 kg. All lifting accessories used must be sized accordingly. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 498 Wipe clean the contact surfaces and the o-ring groove. Check the o-ring. Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 499 Action Note Apply two guide pins in opposite holes. Guide pin, M8x150: 3HAC15520-2 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 500 This requires two persons co-operating, if the motor is installed from above (if the upper arm is pointing upwards). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 501 Screws: M8x30 quality 12.9 Gleitmo (4 pcs) xx1700000290 Perform a leak-down test. Performing a leak-down test on page 184. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 502 Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 503 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 504 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 505: Replacing The Axis-5 Motor
Rotation tool 3HAB7887-1 Used to rotate the motor pinion. 24 VDC power supply Used to release the motor brakes. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 506 Axis 2: 0° • Axis 3: To a suitable working posi- tion for the operator to remove axis- 5 motor. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 507 This is done to be able to reach the two hidden screws that secure the wrist cover. xx1400000355 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 508 Remove the wrist cover. xx1300002247 Remove the heat protection plates from the motor with the cabling still attached to the plate. xx1500001030 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 509 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 510 The motor shall be refitted in the same position. xx1300000656 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 511 Always use removal tools in pairs. CAUTION The motor weighs 12 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 512 • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 513 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 515 Disconnect the 24 VDC power supply. Connecting the motor cables Action Note Push the motor cables in through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 516 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 517 Secure the cable harness with cable straps to the heat protection plate. xx1500001029 Fit the heat protection plate with the Screws: M5x12. screws. xx1500001030 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 518 5 Secure the cover with its attachment screws. xx1300000772 Foundry Plus: Refit protection plugs. If used, refit the DressPack cable package on the wrist. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 519 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 520: Replacing The Axis-6 Motor
3HAB7887-1 Used to rotate the motor pinion. 24 VDC power supply Used to release the motor brakes. Leak-down tester Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 521 Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 522 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 523 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 524 24 VDC power supply power supply. Connect to R2.MP6-connector: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 525 CAUTION The motor weighs 9 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 526 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 527 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 528 - = pin 5 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 529 Check the gasket. Replace if damaged. xx1200001094 CAUTION The motor weighs 9 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 530 Check that the gasket is fitted correctly. Screws: M8x25 Steel 8.8-A2F (4 pcs) Secure the motor with its attachment Tightening torque: 24 Nm screws. xx1200001090 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 531 Perform a leak-down test. Performing a leak-down test on page 184. Disconnect the 24 V DC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 532 Note Reconnect the connectors. xx1200001084 Check the gasket. Gasket: 3HAC033489-001 Replace if damaged. xx1200001095 Refit the motor cover. xx1200001082 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 533 5 Secure the cover with its attachment screws. xx1300000772 Foundry Plus: Refit protection plugs. If used, refit the DressPack cable package on the wrist. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 534 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 535: Gearboxes
4 Refit the axis-1 motor. 5 Fill oil in axis 1. Required spare parts Spare part Article number Note Hub with pinion 3HAC058203-003 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 536 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 537 Open the oil plug carefully in order to let the excess pressure out. Install the ventilating valve. xx1700000349 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 538 Suck out the oil with the oil dispenser. Note There will be some oil left in the gear after drain- ing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 539 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 540 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 542 Remove the two shown motor screws and wash- Bits extender, 3HAC12342-1 ers. xx1700000368 Raise the revolving handle to fit the motor on the tool shelf. xx1700000367 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 543 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 544 Alternately thread the nuts clockwise on the two rods to pull out the hub from the gear. xx2000001380 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 545 Apply some grease on the o-ring for a bet- ter fitting. Examine the pinion and the splines in the hub for damages. xx1500002082 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 546 Lift the hub to the gear, and mate the pinon carefully into the gear. xx2000001381 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 547 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 548 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Attaching the removal tool Action Note Foundry plus: Remove the plastic plugs. xx1700000364 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 549 Fasten lifting eyes in two of the fastening holes Lifting eye, M12, 3HAC16131-1 on the motor. Use a roundsling to lift the motor. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 550 Perform a leak-down test (if not already done). Performing a leak-down test on page 184. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 551 Refit the plastic plugs. xx1700000364 Connecting the motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 552 O-ring, axis-2: 3HAC054692-002 Note O-ring, axis-3: 3HAC054692-002 O-ring, axis-4: 3HAC054692-001 Replace if damaged. xx1200001070 Wipe clean o-ring and o-ring groove. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 553 WARNING Handling gearbox oil involves several safety risks, Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 555 DANGER Make sure all safety requirements are met when performing the first test run. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 556 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 557: Replacing The Axis-1 Gearbox
5 Remove the complete arm system (including frame and balancing device) as a package. 6 Replace the axis-1 gearbox. 7 Refit in reverse order. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 558 Guide pin, M10x150 3HAC15521-2 Always use guide pins in pairs. Guide pin, M16x120 3HAC062397-001 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 559 Directions for use - Fork lift accessory for 3HAC060303 IRB 6700Inv User instructions for turning tool (enclosed with the turning tool) Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 560 Jog axis 2 to -35°. Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000270 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 561 • Axis 3: +65° • Axis 4: 0° • Axis 5: +60° • Axis 6: no significance xx1700000555 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 562 Fol- rotator attachment. low the user instructions enclosed with the turning tool. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 563 The mechanical stop weighs 5 kg. xx1400002179 Begin draining the axis-1 gearbox. Draining the axis-1 gearbox floor- standing on page 147. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 564 All lifting accessories used must be sized accord- ingly! Fit a lifting eye to the wrist. Lifting eye, M12: 3HAC16131-1 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 565 567. Con- venient if the tool is already partly mounted on the robot after rotation from inverted position to floor-standing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 566 Make sure the roundsling is stretched, so it can carry the weight of the frame. The position of axis 3 will be approximately -45°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 567 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 568 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 569 - = pin 5 CAUTION The weight of the motor is 27 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 570 Lifting accessory, motor: 3HAC14459-1. xx1500002084 Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 571 Fit the two threaded rods of the hub tool Hub tool: 3HAC071355-001 into the attachment holes in the hub. xx2000001379 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 572 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the base cover. xx1300000561 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 573 If used, remove the attachment screws that secure the bracket. This is done to facilitate removal of the DressPack hoses. xx1400000078 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 574 Remove the cable guide in the frame by re- moving the four attachment screws and pulling the guide upwards. xx1700001256 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 575 CAUTION The complete arm system weighs: 1300 Kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 576 This is done in order not to damage the surface of the gearbox which is a sealing surface. xx1700000323 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 578 Remove the protection tube from the base by removing the two attachment screws and pulling the tube downwards. xx1700000561 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 579 A new o-ring must be installed to the new gearbox. xx1700001378 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 580 IRB 6700Inv. WARNING Be careful not to damage the gearbox during removal of the covers. Remove any residuals. xx1700001369 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 581 All lifting accessories used must be sized accordingly. Attach the lifting accessory and lift the gear- Lifting accessory (chain): 3HAC15556-1 box. xx1700000326 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 582 Apply flange sealant to the mounting interface Flange sealant: Loctite 574 (12340011- on the base, between the groove and the 116). screw holes. xx1700001377 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 583 Do not use the new o-ring! xx1400002176 Make sure that the locating pin in the base will match its hole in the gearbox. xx1400002177 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 584 Wipe the surfaces of the protection tube and the hole in axis-1 gearbox clean from any contamination. Put some grease on the protection tube. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 585 Wipe clean the o-ring groove in the gearbox Grease, Shell Gadus S2: 3HAC042536- and apply some grease to the groove. 001. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 586 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the frame slide better. xx1700000329 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 587 WARNING The angle between the two chains may not exceed 90°. xx1700000319 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 588 Make sure that the complete arm system is lowered all the way down. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 589 Secure with the four attachment screws. Locking liquid: Loctite 243 (3HAB7116-1). Apply locking liquid on the screws. Tightening torque: 10 Nm. xx1700001256 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 590 Apply some grease on the o-ring for a bet- ter fitting. Examine the pinion and the splines in the hub for damages. xx1500002082 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 591 Lift the hub to the gear, and mate the pinon carefully into the gear. xx2000001381 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 592 - = pin 5 CAUTION Whenever parting/mating motor pinion and hub, the splines may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 593 Perform a leak-down test (if not already Performing a leak-down test on done). page 184. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 594 Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 595 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 596 R1.MP1, see the figure. xx1300000736 Make sure that the markings on the cables are facing the base cover, when connected. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 597 Make sure that the hoses are running cor- rectly and are not twisted! If used, fit the bracket that hold the DressPack to the frame. xx1400000078 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 598 Apply Mercasol on the surfaces shown in the figure, on stop pin and in the hole as shown in the figure. xx1400000378 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 599 Secure the cable harness inside the frame hole with a cable strap. xx1200001237 Refit the cable bracket on the frame. xx1200001246 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 600 See user instructions for the turning tool. Guide the robot using two M24 screws while lifting it into its mounting position. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 601 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 602: Replacing The Axis-2 Gearbox
DressPack in base and frame first. Location of the axis-2 gearbox The axis-2 gearbox is located as shown in the figure. xx1700000373 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 603 Rotation tool 3HAB7887-1 Used to rotate the motor pinion. 24 VDC power supply Used to release the motor brakes. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 604 Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Directions for use - Fork lift 3HAC060303 accessory for IRB 6700Inv Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 605 Securing the lower arm Use this procedure to secure the lower arm. Action Note Jog axis 2 to -35°. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 606 Verify that the lower arm is secured with the transportation lock screw. Remove any payload and tools from the robot. DressPack can stay fitted. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 607 Two M16 screws can be fitted to the fork lift pockets, to press the forks against the pockets and make the lift more stable. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 608 Unloading the balancing device Action Note Verify that the robot is secured to the foundation. Attachment screws: M24x100 (8 pcs). Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 609 Fit the transportation lock screw and the yellow sleeve in their parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 610 DANGER Do not remove the relief screws when the balan- cing device is removed from the robot. xx1700000070 xx1700000560 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 611 All lifting accessories used must be sized accord- ingly. Fasten lifting shackles on the balancing device. SA-10-8-NA1 (2 pcs) xx1700000086 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 612 Make sure that the lifting accessories hold the weight of the balancing device. Use high pressure air to remove the VK covers. xx1700000088 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 613 2 gearbox to get the robot prepared for at- page 602. tachment of the lifting accessories for lift of the un-separated lower and upper arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 614 The lower and upper arms together weigh (accord- ing to variants) 650 kg. All lifting accessories used must be sized accord- ingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 615 To release the brake, connect the 24 VDC power supply. Connect to connector R2.MP2, axis-2 motor: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 616 Note The screws are reached from outside the lower arm. xx1300000540 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 617 Remove all but one of the remaining attach- ment screws that secure the lower arm to the axis-2 gearbox. xx1400002182 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 618 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 619 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 620 - = pin 5 Remove the attachment screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx1700000515 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 621 Remove the motor by sliding it out on the Make sure the pinion is not damaged. guide pins and lift it off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 622 CAUTION The gearbox weighs 110 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 623 When performing these procedures, the cable harness will still be fitted or partly fitted to the robot. Use the utmost caution not to cause any damage to the cable harness! Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 624 Fit the o-ring in the groove. Foundry Plus: Apply Mercasol on the surfaces shown in the figure. xx1400000374 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 625 Remove the guide pins and fit the remain- ing attachment screws. Secure the gearbox with its attachment Tightening torque: 120 Nm. screws. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 626 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 627 Lift the motor and put it on the guide pins as close as possible to its final position without pushing the motor pinion into the gear. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 628 Screw dimension: M10x40 quality 12.9 screws. Gleitmo (4 pcs) xx1700000515 Perform a leak-down test. Performing a leak-down test on page 184. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 629 This operation is best performed by two persons working together. xx1700000692 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 630 Tightening torque M16: 300 Nm. with its attachment screws. Disconnect the 24 VDC power supply. Remove the lifting accessories. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 631 Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 632 Note Make sure the o-ring is undamaged and properly fitted. xx1200001135 Make sure that the covers are tightly sealed. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 633 The screws are reached from the outside of the lower arm! xx1200001282 Refit the cable bracket on the frame. xx1200001283 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 634 Align the balancing device link ear with the hole in the lower arm. Note Verify that the link ear is correctly turned. xx1300000784 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 635 Dismantle and mounting tool set: 3HAC028920-001 Press tool M Apply locking liquid on the first threads of the Loctite 2701 screw. xx1300000782 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 636 Refit the two screws and wipe clean from residual grease. Refit the DressPack bracket, if used. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 637 Remove the relief screws to activate the balancing device. Note Axis 2 must be in -4°. xx1700000070 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 638 Axis 6: no significance 600 50 xx1600001371 Remove the transportation lock screw and the yellow sleeve from the parking position. xx1700000348 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 639 Fasten the fork lift accessory. See user instructions enclosed with the fork lift accessory. Fork lift accessory set: 3HAC058825-001. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 640 Remove the yellow sleeve and transportation lock screw from the transportation and turning position. xx1700000269 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 641 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 642: Replacing The Axis-3 Gearbox
- IRB 6700/IRB 6700Inv. Required tools and equipment Equipment, etc. Article number Note Lifting shackle, 2 pcs SA-10-8-NA1 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 643 Shell Gadus S2 Used to lubricate o-rings. O-ring 3HAB3772-107 D=102x3 Used on motor flange. O-ring 3HAC054692-002 D=169.5x3 Used on motor cover. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 644 Axis-3: -143 (so that the upper arm is horizontal) • Axis-4: 0° • Axis-5: -90° • Axis-6: 0° xx1700000450 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 645 Release the holding brakes for the axis-3 motor to give the weight of the upper arm to the roundsling attached to the balancing device. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 646 Verify that the upper arm is secured as previously described, before continuing. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 648 The weight of the complete upper arm (in- cluding the wrist) is 465 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 649 Raise the lifting accessories to take the weight of the upper arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 650 Leave one of the remaining attachment screws fitted, remove the other screws. xx1700000458 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 652 ScrewsM8x75, fully threaded: Used to push them as removal tools. out the gearbox, if necessary. Remove the remaining attachment screw. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 653 Apply the lifting accessory to the gearbox. Lifting accessory, gearbox: 3HAC046112- Lift the gearbox so that it rests on the side. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 654 Action Note Secure the gearbox with 28 of the 30 attach- Tightening torque: 120 Nm ment screws. M12x70. xx1400002193 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 655 24h.) arm as shown in the figure. CAUTION Keep the sealing surfaces clean from Mer- casol. xx1700001880 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 656 Use the pinion to rotate the axis-3 gearbox to find the correct position for the guide pins in the lower arm. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 658 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 659 Always use guide pins in pairs. xx1700000272 CAUTION The motor weighs 26 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 660 - = pin 5 CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 662 Calibrating with Axis Calibration method on page 683. General calibration information is included in section Calibration on page 673. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 663 4 Repair 4.8.4 Replacing the axis-3 gearbox Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 664: Replacing The Axis-6 Gearbox
Delivered as a set of calibration tools. Calibration Standard toolkit Content is defined in section Standard toolkit on page 713. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 665 Drain the gearbox. Draining the axis-6 gearbox on page 170. Remove all equipment fitted on the turning disc. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 666 • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 667 Action Note Remove the screws and washers, that se- cure the turning disc. xx1400002195 Remove the turning disc. xx1300000493 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 668 Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 669 Fit the gearbox to the wrist. CAUTION Be careful not to damage motor pinion or gears! xx1700001601 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 670 Foundry Plus: Apply Mercasol on the surfaces on turning disc and axis-6 gearbox as shown in the figure. xx1400000385 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 671 General calibration information is included in section Calibration on page 673. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 672 This page is intentionally left blank...
Page 673: Calibration
A calibration routine to make a rough calibration of each manipulator axis. Synchronization mark Visual marks on the robot axes. When marks are aligned, the robot is in synchronization position. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 674: Calibration Methods
The following routines are available for the Wrist Optimization method: • Wrist Optimization Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 675 FlexPendant. You will be guided through the calibration procedure, step by step. References Article numbers for the calibration tools are listed in the section Special tools on page 714. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 676: When To Calibrate
The resolver values are changed If resolver values are changed, the robot must be re-calibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. The resolver values will change when parts affecting the calibration position are replaced on the robot, for example motors or parts of the transmission.
Page 677: Synchronization Marks And Axis Movement Directions
Synchronization marks, IRB 6700Inv Axis 1 Axis 2 xx1300000868 xx1300000869 Axis 3 Axis 4 xx1300000870 xx1300000871 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 678 5 Calibration 5.2.1 Synchronization marks and synchronization position for axes Continued Axis 5 Axis 6 Two variants of synchronization mark plates. xx1300000872 xx1300000873 xx1500000845 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 679: Calibration Movement Directions For All Axes
Note! The graphic shows an IRB 7600. The positive direction is the same for all 6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the opposite direction! xx0200000089 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 680: Updating Revolution Counters
Use this procedure to update the revolution counter with the FlexPendant (IRC5). Action On the ABB menu, tap Calibration. xx1500000942 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 681 Calibration method used at factory for each axis is shown, as well as calibration method used during last field calibration. Tap Manual Method (Advanced). xx1500000944 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 682 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 698. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 683: Calibrating With Axis Calibration Method
FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
Page 684 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
Page 685 The IRB 6700Inv is calibrated inverted in factory, prior to shipping. To recalibrate an inverted robot, use either fine calibration or reference calibration routine. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 686: Calibration Tools For Axis Calibration
There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
Page 687 It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.
Page 688: Installation Locations For The Calibration Tools
Replace damaged parts with new. Spare part Article number Note Protection cover and plug set 3HAC056806-001 Contains replacement calibration pin covers and protective plugs for the bushing. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 689: Axis Calibration - Running The Calibration Procedure
WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
Page 690 This is shown in the Calibration Method Overview ration. window on the FlexPendant. Calibrating with Wrist Optimiza- tion method on page 696. xx2000000509 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 691 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 692 To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The Axis Calibration routine recognizes if the robot is equipped with SafeMove and will force SafeMove to unsynchronize automatically. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 693 If the standard calibration data for axes 4, 5 or 6 Calibrating with Wrist Optimiz- should be updated with wrist optimization, run the ation method on page 696. calibration routine Wrist Optimization. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 694: Reference Calibration
(step 5, see Brief introduction to Reference Calibration on page 694). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 695 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 696: Calibrating With Wrist Optimization Method
WARNING Robot moves automatically when pressing Calibrate. 6 Wrist optimization is finished. 7 Redefine / verify TCP for all tools. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 697: Verifying The Calibration
Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 698: Checking The Synchronization Position
If they do not, up- ization position for axes on page 677 date the revolution counters. Updating revolution counters on page 680. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 699: Decommissioning
Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 700 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 701: Scrapping Of Robot
• When motors are removed from the robot, the robot will collapse if it is not properly supported before the motor is removed. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 702: Decommissioning Of Balancing Device
The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 703 Then cut all the coils of the springs from that side also. xx1600002091 Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 704 This page is intentionally left blank...
Page 705: Reference Information
7 Reference information 7.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 706: Applicable Standards
Only robots with protection Clean Room. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 707 Safety requirements for industrial robots and robot systems ANSI/UL 1740 Safety standard for robots and robotic equipment CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require- ments Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 708: Unit Conversion
2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 709: Screw Joints
7.4 Screw joints 7.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
Page 710 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 711 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque Nm - Tightening torque Nm - Tightening torque Nm - Nominal Min. Max. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 712: Weight Specifications
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
Page 713: Standard Toolkit
Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 714: Special Tools
Standard toolkit on page 713, and of special tools, listed directly in the instructions and also gathered in this section. Special tools Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 715 Removal tool axis-1 motor 3HAC055444-001 Note! Inverted robot. xx1700000365 Revolving handle Shelf Bracket 3HAC046128-001 Lifting accessory, gearbox 3HAC046112-001 Lifting accessory, gearbox Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 716 Lifting capacity: 1,000 kg. 3HAC058825-001 Fork lift accessory set xx1700000762 Turning tool or a Fork lift truck 3HAC061162-001 with rotator attachment xx1700000761 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 717 Calibration Leak-down tester 3HAC058129-001 Relief screws 3HAC059728-001 Sleeve Transportation lock screw 3HAB3409-93 Screw, M16x120 (class 12.9 or 8.8) xx1600002009 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 718 Oil collecting vessel Oil dispenser 3HAC067545-001 Pinion xx1800001147 3HAB7887-1 Rotation tool The tools are mounted on the robot at delivery. Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 719: Lifting Accessories And Lifting Instructions
This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
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Page 721: Spare Parts
Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.mypo- rtal.abb.com. Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 722 This page is intentionally left blank...
Page 723: Circuit Diagrams
Circuit diagram - IRB 6620 / IRB 6620LX 3HAC025090-001 Circuit diagram - IRB 6640 3HAC025744-001 Circuit diagram - IRB 6650S 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 724 Circuit diagram - IRB 6700 / IRB 6790 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 14000 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 725 86 balancing device front eye, 177 fire extinguishing, 30 brake release, 68 fitting equipment to robot, 71 brake release unit FlexPendant Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 726 142 installation procedure, 58 disposal, 699 installing type of oil, 142 motor cooling fan, 86 oil change instructions for assembly, 41 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 727 309 stability, 50 report replacements, 183 standards, 706 requirements on foundation, 44 ANSI, 707 responsibility and validity, 17 CAN, 707 restricting EN, 707 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 728 55 overview of method, 696 transportation lock screw, 55 troubleshooting oil spills, 179 zero position safety, 38 checking, 698 turning disc replacing, 330 Product manual - IRB 6700Inv 3HAC058254-001 Revision: L © Copyright 2017 - 2020 ABB. All rights reserved.
Page 730 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2017 - 2020 ABB. All rights reserved. Specifications subject to change without notice.

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