Page 1 ROBOTICS Product manual IRB 6740...
Page 2 Trace back information: Workspace 23B version a13 (not checked in) Published 2023-06-21 at 17:07:40 Skribenta version 5.5.019...
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
Test run after installation, maintenance, or repair ............ Maintenance Introduction ...................... Maintenance schedule and expected component life ..........4.2.1 Specification of maintenance intervals ............4.2.2 Maintenance schedule ................Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 6 Replacing the axis-2 motor ............... 5.8.3 Replacing the axis-3 motor ............... 5.8.4 Replacing the axis-4 motor ............... 5.8.5 Replacing the axis-5 motor ............... 5.8.6 Replacing the axis-6 motor ............... Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 7 Applicable standards ..................Unit conversion ....................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Index Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Prerequisites A maintenance/repair/installation craftsman working with an ABB robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. • be trained to respond to emergencies or abnormal situations. Continues on next page...
Page 10 Circuit diagram - IRB 6710/IRB 6720/IRB 6730/IRB 6740 3HAC086333-001 Technical reference manual - System parameters 3HAC065041-001 Operating manual - Service Information System 3HAC050944-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. Product manual - IRB 6740 3HAC085701-001 Revision: A ©...
Page 11: 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 12 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 13: How To Read The Product Manual
Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
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Page 15: Safety
Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. The information does not cover how to design, install and operate a robot system, nor does it cover all peripheral equipment that can influence the safety of the robot system.
Page 16: 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 instructions. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 17: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 18 1.2.1 Safety signals in the manual Continued 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 19: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 20 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 21 Tip risk when loosening bolts 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 22 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 23 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 24 Shut off with handle 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 25: Robot Stopping Functions
1.3 Robot stopping functions Protective stop and emergency stop The protective stops and emergency stops are described in the product manual for the controller. For more information see: Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 26: Safety During Installation And Commissioning
When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 27 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 28: Safety During Operation
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 30 Specified amount de- on how much has previously pends on drained been drained from the gearbox. volume Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 31 WARNING 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 32: Emergency Release Of The Robot Axes
When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 33: Brake Testing
For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 34: Safety During 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 35: Safety During Decommissioning
Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
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Page 37: Manipulator Description
0° Note The actual mounting angle must always be configured in the system parameters, otherwise the performance and lifetime is affected. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 38 ±21.2 kN Force z 17.7 ±5 kN 17.7 ±17.2 kN Torque xy ±25.5 kNm ±45.1 kNm Torque z ±6.5 kNm ±13.3 kNm Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 39 Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 40 Environmental information The product complies with IEC 63000. Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 41: Working Range
Illustration, working range IRB 6740-310/2.8 This illustration shows the unrestricted working range of the robot. 1238 1989 2799 xx2300000706 Path intersect with axis-5 center Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 42 Illustration, working range IRB 6740-260/3.0 This illustration shows the unrestricted working range of the robot. 1395 1022 2187 2997 xx2300000707 Path intersect with axis-5 center Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 43 Illustration, working range IRB 6740-240/3.2 This illustration shows the unrestricted working range of the robot. 1544 1110 2365 3175 xx2300000708 Path intersect with axis-5 center Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 44 Illustration, working range IRB 6740-270/2.8 LID This illustration shows the unrestricted working range of the robot. 1538 1989 2799 xx2300000709 Path intersect with axis-5 center Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 45 Illustration, working range IRB 6740-230/3.0 LID This illustration shows the unrestricted working range of the robot. 1022 1714 2187 2997 xx2300000710 Path intersect with axis-5 center Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 46 2 Manipulator description 2.2 Working range Continued Top view of working range IRB 6740-310/2.8, IRB 6740-270/2.8 LID (R972) (R2799) xx2300000703 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 47 2 Manipulator description 2.2 Working range Continued IRB 6740-260/3.0, IRB 6740-230/3.0 LID (R1022) (R2997) xx2300000704 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 48 IRB 6740-310/2.8, IRB 6740-260/3.0, IRB 6740- 240/3.2 ±220° IRB 6740-270/2.8 LID, IRB 6740-230/3.0 LID, IRB 6740-220/3.2 LID Option Extended Working Range Axis 1 (3324-1) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 49 The working range of axis 1 can be reduced by altering the parameter values. Installation of additional mechanical stops is recommended. See Working range alterations on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 50: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 51: Installation And Commissioning
Read the chapter Safety on page 15 before performing any installation work. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 52: 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 53: Risk Of Tipping/Stability
(for example DressPack). Axis number Angle of axis Axis 1 0° Axis 2 -34° to -39° Axis 3 +70° Axis 4 0° Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 54 Axis number Angle of axis Axis 5 0° Axis 6 0° WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 55: On-Site Installation
Install required equipment, if any. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 56: Installing A Base Plate
Note Do not use a base plate for installation of an inverted robot. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 57 Guide pins on page 60 E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact surface to the other) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 58 3 Installation and commissioning 3.3.2 Installing a base plate Continued 2x R22,5 3x 90° xx1500000247 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 59 697,2 680,1 681,9 672,5 2x 598 4x 18 16x R 50 2x 298 223,5 214,1 215,9 198,8 111,4 111,2 82,1 xx1500000249 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 60 Assembly of guide pins on page 60.) Assembly of guide pins Description Cylindrical guide pin (x2) M5 x 40. Tightening torque 6 Nm. (x2) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 61 The illustration below shows the orienting grooves and attachment holes for leveling bolts in the base plate. xx1500000312 Orienting grooves (3 pcs) Levelling bolts, attachment holes (4 pcs) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 62 Base plate, guide sleeve holes The illustration below shows the guide sleeve holes in the base plate. xx0300000045 Guide sleeve holes (2 pcs) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 63 0.3 mm. If it is not, use pieces of sheet metal or similar to bring the base plate to a levelled position. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 64: Lifting The Robot
The user manual may be out of date. The latest revision is available for download via myABB Business Portal, www.abb.com/myABB. xx2200002013 Required equipment Equipment Article number Note Lifting accessory, robot 3HAC15607-1 Includes user instructions 3HAC15971-2 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 65 Make sure all hooks and attachments maintain their correct positions while lifting the robot! Always move the robot at very low speeds, making sure it does not tip. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 66: Lifting The Robot With Fork Lift
Directions for use - Fork lift accessory set 3HAC047054- 3HAC048484-002 Lifting the robot Action Note Lift the robot according to the user instructions enclosed with the fork lift accessory. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 67: Lifting The Robot With Roundslings
Attempting to lift a robot in any other position than the recommended lifting position may result in the robot tipping over, causing severe damage or injury. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 68 Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 69 IRB 6740-270/2.8 LID: 1,440 kg IRB 6740-230/3.0 LID: 1,450 kg IRB 6740-220/3.2 LID: 1,420 kg All lifting accessories used must be sized ac- cordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 70 3.3.3.3 Lifting the robot with roundslings Continued Action Note Fit four lifting eyes to the base of the robot. Lifting eye M20 xx2100000718 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 71 Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. WARNING Personnel must not, under any circumstances, be present under the suspended load. Raise the overhead crane to lift the robot. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 72: Orienting And Securing The Robot
If using a base plate: fit two guide sleeves to the guide sleeve holes in the base plate. See Base plate, guide sleeve holes on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 73 550 Nm (screws lubricated with Molykote 1000) 600-725 Nm, typical 650 Nm (screws none or lightly lubricated) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 75: Manually Releasing The Brakes
Make sure no personnel is near or beneath the ro- bot. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 76 If they are mixed up, damage can be caused to internal electrical components. xx0600002937 Use the brake releasing button as described in Releasing the brakes on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 77: 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. See the product specification for the robot, listed in References on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 78: Fitting Equipment On The Robot (Robot Dimensions)
Variant IRB 6740-310/2.8 2,401 1,212.5 1,225 IRB 6740-260/3.0 2,401 1,412.5 1,225 IRB 6740-240/3.2 2,391.5 1,592.5 1,225 IRB 6740-270/2.8 2,401 1,212.5 1,225 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 79 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) xx2300000346 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 80 200 kg in combination with the reduced payload, use RobotStudio add-in RobotLoad or contact ABB. C L Axis 3 C L Axis 4 xx2200002036 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 81 C L Axis 3 2 x M12 18 min. 2 x M10 15 min. M12 20 R117 2 x M8x1.25 xx2200002039 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 82 3.3.7 Fitting equipment on the robot (robot dimensions) Continued 106 (4x M12) C L Axis 4 Axis 6 C L Axis 5 2 x M8 (360) xx2200002040 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 83 3.3.7 Fitting equipment on the robot (robot dimensions) Continued Lower arm (360) 2x 30 4 x M8 16 min. 2x 12 ± 2 (M10) xx2200002055 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 84 3 Installation and commissioning 3.3.7 Fitting equipment on the robot (robot dimensions) Continued xx2200002056 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 85 Continued Frame 4 x M10 2 x M10 20 min. 1019 C L Axis 2 3 x M10 28 min. xx2200002057 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 86 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 87: Working Range Alterations
Part of the casting or fixed on the casting and can not /should not be removed. Can be installed in one or more than one position, to ensure a reduced working range, or be removed to allow extended working range. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 88: Installing Movable Mechanical Stops On Axis 1 (Option 3323-1)
If the mechanical stop pin is deformed after a hard collision, it must be replaced! Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 89 Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 90 - System parameters. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 91: Extended Working Range, Axis 1 (Option)
Configure the safety setup and verify it by test. Hold the mechanical stop pin in a firm grip, and remove it by unscrewing the attach- ment screw. xx2200001398 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 92 The system parameters are described in detail in the reference manual, see References on page For more information about SafeMove, see Application manual - Functional safety and SafeMove. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 93: Electrical Connections
Robot cable, power Power cable length Article number Power cable 7 m 3HAC026787-001 Power cable 15 m 3HAC026787-002 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 94 Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 95 Ethernet floor cable length Article number Ethernet cable: 7 m 3HAC079476-001 Ethernet cable: 15 m 3HAC079476-002 Ethernet cable: 22 m 3HAC079476-003 Ethernet cable: 30 m 3HAC079476-004 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 96: Test Run After Installation, Maintenance, Or Repair
Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 97: Maintenance
The maintenance must be done by qualified personnel in accordance with the safety requirements set forth in the applicable national and regional standards and regulations. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 98: Maintenance Schedule And Expected Component Life
Robots with the functionality Service Information System activated can show active counters in the device browser in RobotStudio, or on the FlexPendant. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 99: Maintenance Schedule
Inspecting the cable Inspecting the robot harness harness on page 108 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 100 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 101: Expected Component Life
The given life for the balancing device is based on a test cycle of 4,000,000 cycles that starts from the initial position and goes to maximum extension, and back. Deviations from this cycle will result in differences in expected life! Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 102: Inspection Activities
Remove the plug or drill a drainage hole with diameter 3 mm, if an open evacuation hole is required instead. xx2200002188 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 104: 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 106 3HAC087168-001 Replacement of the complete bearing is described in section Replacing spherical roller bearing, balancing device link ear on page 230. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 107 Keep the areas around the balancing device clean and free from objects, such as service tools. xx1300000423 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 108: Inspecting The Cable Harness
• electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 109 Sharp debris might occur. Always wear protective gloves. xx2200001791 Replace the cable harness if wear, cracks Removing the cable harness on or damage is detected. page 306. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 110: Inspecting The Dampers
Note Damper 3HAC046884-001 Axis 2 Damper 3HAC11750-1 Axis 3 Damper 3HAC054956-001 Axis 5 Required equipment Visual inspection, no tools are required. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 111 Loctite 243). DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 112: Inspecting The Information Labels
The figures show the location of the information labels to be inspected. The symbols are described in section Safety symbols on manipulator labels on page SECTION A-A xx2200001848 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 113 3HAC032726-001 Lubrication label Kyodo Yushi TMO 150 3HAC032905-001 Lubrication label 3HAC9191-1 Warning label Tipping robot 3HAC0453-5 / 3HAC077301-002 ABB logotype label Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 114 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 Required spare parts on page 112. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 115: Inspecting The Axis-1 Mechanical Stop
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. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 116 Do not overtighten the attachment screw, use specified tightening torque. xx2200001398 Make sure the mechanical stop pin can move in both directions. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 117: Inspecting The Oil Level In Axis-1 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 118 Further information about how to drain or fill with oil is found in section Changing the oil in axis-1 gearbox on page 137. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 119 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 120: Inspecting The Oil Level In Axis-2 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 121 Further information about how to drain or fill with oil is found in section Chan- ging the oil in axis-2 gearbox on page 142. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 122 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 123: Inspecting The Oil Level In Axis-3 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 124 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2300000203 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 125 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 126: Inspecting The Oil Level In Axis-4 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 127 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2200001796 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 128 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 129: Inspecting The Oil Level In Axis-5 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 130 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2200001798 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 131 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 132: Inspecting The Oil Level In Axis-6 Gearbox
Inspecting the oil level in axis-6 gearbox Use this procedure to inspect the oil level in the gearbox. Action Note Run the robot to calibration position. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 133 Further information about how to drain or fill with oil is found in section Changing the oil in axis-6 gearbox on page 162. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 134 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 135: Replacement/Changing Activities
The figure shows the location of the gearboxes. xx2200001901 Axis-1 gearbox Axis-2 gearbox Axis-3 gearbox Axis-4 gearbox Axis-5 gearbox Axis-6 gearbox Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 136 Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 137: Changing The Oil In Axis-1 Gearbox
Type of lubrication in gearboxes on page 135. O-ring, G 1/2" 3HAC061327-059 Used on oil plug. Always replace when refitting oil plug. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 138 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2200002147 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 139 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 140 Wait until the oil stops sinking, before measuring the oil level. xx2200002147 Remove the oil dispenser and refit the protective cap to the nipple. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 141 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 142: Changing The Oil In Axis-2 Gearbox
Type of lubrication in gearboxes on page 135. O-ring, G 1/2" 3HAC061327-059 Used on oil plug. Always replace when refitting oil plug. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 143 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300000002 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 144 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 145 Wait until the oil stops sinking, before measuring the oil level. Remove the oil dispenser. Refit the protective cap on the nipple. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 146 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 147: Changing The Oil In Axis-3 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 148 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 149 Used oil is hazardous material and must be disposed of in a safe way. See Decom- missioning on page 639 for more informa- tion. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 150 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300000203 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 151 DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 152: Changing The Oil In Axis-4 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 153 Remove the oil plug from the drain hole and let the oil run into the vessel. xx2100002095 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 154 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 155 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2200001796 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 156 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 157: Changing The Oil In Axis-5 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 158 The oil plug hole is opened to speed up the drainage. xx2200001798 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 159 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 160 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2200001798 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 161 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 162: Changing The Oil In Axis-6 Gearbox
Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 163 Remove the oil plug from the drain hole and let the oil run into the vessel. xx2100002101 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 164 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 165 Refit the oil plug with a new o-ring. O-ring, G 1/4": 3HAC061327-060 Tightening torque: 20 Nm. xx2100002077 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 166 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 167: Replacing The Smb Battery
Action Note Jog the robot to its calibration position. This is done in order to facilitate updating of the revolution counter. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 168 Pull out the battery and disconnect the battery cable. xx2100002131 Remove the SMB battery. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. Refitting the battery Use this procedure to refit the SMB battery. Action Note...
Page 169 616. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 170: Lubrication Activities
• electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 172: Cleaning Activities
Do not use compressed air to clean the robot. • Do not remove any covers or other protective devices before cleaning the robot. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 173 Cleaning agent to be tested on a small surface prior usage on complete manipulator. Cleaning with water and steam Instructions for rinsing with water ABB robots with protection types Standard or Foundry Plus can be cleaned by rinsing with water (water cleaner). The following list defines the prerequisites: •...
Page 174 4 Maintenance 4.6.1 Cleaning the IRB 6740 Continued Position Example of position Rotational sealings xx2300001055 Gaskets xx2300001056 Connectors xx2300001057 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 175 Clean the cables if they have a crusty surface, for example from dry release agents. Cassette sealings Minor seepage of grease from the seals can occur. Wipe down affected areas with a dry cloth. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 176 This page is intentionally left blank...
Page 177: 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 6740, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
Page 178: 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 179: 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 180 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 181: Mounting Instructions For Sealings
Do not try to grind or polish the shaft surface to get rid of the defect. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 182 Mount the sealing correctly with a mounting tool. Never hammer directly on the sealing as this may result in leakage. xx2000000072 A Gap Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 183 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. Tighten the screws evenly when fastening the flange joint.
Page 184 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 185: 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 186: Axes 1 And 2
IRB 6740 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Cassette sealing 3HAC070194-011 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 187 For removing and fitting cassette sealing sealing on axis 1 Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 188 Hydraulic press equipment, balancing device (3HAC074411-001). 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 189 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 190 Removing the shaft in the front (link ear) Action Note Remove the protection plug at the link ear. xx2200001460 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 191 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 192 VK cover, 100x10: 3HAA2166-13 Position for screwdriver: xx1300000662 Vent hole for air pressure: xx2300000003 Wipe off any residual grease inside the re- cess. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 193 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 194 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 195 Removing the protection ring in the frame Action Note Foundry Plus Cut the flange sealant at the protection ring. Remove the protection ring. xx2200001610 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 196 Use a drill 3.5 mm. xx2100002216 Screw the three enclosed wood screws through the drilled holes and into the cassette sealing. xx2100002217 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 197 Note Remove any old assembly lubricant residues or other contamination from the contact surfaces for the sealing in the frame. xx2100002377 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 200 Refitting the cable harness in the base Action Note Run the robot cable harness through the frame recess and down through the protec- tion tube. xx2200001924 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 201 Tightening torque for R1.SMB: 10 Nm. xx2100001109 Connect the earth cable. Screw dimension: M6x16. Washer dimension: 6.4x17x3. Tightening torque: 10 Nm. xx2200001790 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 202 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 203 This is done to keep the distance between the balancing device and the bearing while tightening the screw. xx2200001470 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 204 Apply Mercasol on the surfaces on the shaft and front ear. xx1400000368 A Front link ear B Shaft C Mercasol (red dotted lines) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 205 Go to the user instructions enclosed with the press tool. 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 206 Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Fit the protection plug. xx2200001460 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 207 Securing the shaft ends Action Note Secure both shaft end screws with tighten- Tightening torque: 280 Nm ing torque. xx2200001471 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 208 VK covers are hard to fit. xx2200001464 xx2300000003 Concluded refitting of the front shaft Action Note Remove the locking screw (M16x120). xx2200001332 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 209 A3F. Tightening torque: 50 Nm. Flange sealant for conical fittings: Loctite 5400 (or equivalent Loctite 577). xx2200001330 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 210 137. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 211: Balancing Device
IRB 6740 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Balancing device 3HAC051384-002 (Graphite White) 3HAC051384-003 (ABB Orange) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 212 Lifting accessory (chain) 3HAC15556-1 Lifting instruction 3HAC15880-2 enclosed. Lifting shackle SA-10-8-NA1 Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 213 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 214 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 215 Lifting shackle: SA-10-8-NA1 xx2200001355 Fit the lifting accessory to the shackle and Lifting accessory (chain): 3HAC15556-1 raise to unload the weight. xx2200001459 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 216 Remove the protection plug at the link ear. xx2200001460 Unscrew the attachment screw and washer. Hex socket head cap screw: M16x70 8.8- Washer: Steel 17x25x3 xx2200001461 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 217 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 218 VK cover, 100x10: 3HAA2166-13 Position for screwdriver: xx1300000662 Vent hole for air pressure: xx2300000003 Wipe off any residual grease inside the re- cess. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 219 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 220 Fit a lifting shackle to the balancing device. Lifting shackle: SA-10-8-NA1 Lifting accessory (chain): 3HAC15556-1 Fit the lifting accessory to the shackle. xx2200001915 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 221 Perform this procedure on both sides. 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 222 140 kg All lifting accessories used must be sized accordingly. Lift the balancing device into position in the cradle. xx2200001469 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 223 Lifting shackle: SA-10-8-NA1 (if not already done). Lifting accessory (chain): 3HAC15556-1 Remove all residue of Loctite in the screw hole of the shaft. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 224 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 225 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 226 Securing the shaft ends Action Note Secure both shaft end screws with tighten- Tightening torque: 280 Nm ing torque. xx2200001471 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 227 VK covers are hard to fit. xx2200001464 xx2300000003 Concluded refitting of the front shaft Action Note Remove the locking screw (M16x120). xx2200001332 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 228 A3F. Tightening torque: 50 Nm. Flange sealant for conical fittings: Loctite 5400 (or equivalent Loctite 577). xx2200001330 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 229 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 230: Replacing Spherical Roller Bearing, Balancing Device Link Ear
The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6740 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 231 3HAA1001-294 Tribol GR 100-0 PD Locking liquid Loctite 2400 (or equivalent Loctite 243) Locking liquid Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 232 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 233 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 234 Lifting shackle: SA-10-8-NA1 xx2200001355 Fit the lifting accessory to the shackle and Lifting accessory (chain): 3HAC15556-1 raise to unload the weight. xx2200001459 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 235 Remove the protection plug at the link ear. xx2200001460 Unscrew the attachment screw and washer. Hex socket head cap screw: M16x70 8.8- Washer: Steel 17x25x3 xx2200001461 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 236 Unscrew the attachment screws securing the end cover, remove end cover and radial sealing with a screwdriver. xx2200001494 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 237 Refitting the spherical roller bearing Refitting the spherical roller bearing, link ear Action Note Wipe clean all contact surfaces from resid- ual grease. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 238 Use a plastic mallet or similar on the Press tool J and refit the radial sealing. xx2200001498 Apply some grease on the surface for the bearing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 239 Action Note Apply the lifting accessory to the balancing device Lifting shackle: SA-10-8-NA1 (if not already done). Lifting accessory (chain): 3HAC15556-1 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 240 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 241 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 242 Remove the lifting accessory from the balancing device. Removing the lifting accessory and locking screw Action Note Remove the lifting accessory from the bal- ancing device. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 243 Continued Action Note Remove the lock screw (M16x120). xx2200001332 Foundry Plus: Apply Mercasol in the hole for the locking screw. xx1400000372 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 244 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 245: Replacing The Rear Bearings On The Balancing Device
The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6740 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 246 Located at the cradle of the balancing device. 2 pcs required. Replace if damaged. Locking liquid Loctite 2400 (or equivalent Loctite 243) Grease 3HAC042536-001 Shell Gadus S2 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 247 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 248 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 249 The procedure of removing the shaft end in the cradle is the same on both sides. Note Remove one shaft end at a time! Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 250 VK cover, 100x10: 3HAA2166-13 Position for screwdriver: xx1300000662 Vent hole for air pressure: xx1700002189 Wipe off all residual grease inside the re- cess. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 251 Before pulling out the shaft end, put a big screw driver between the cradle and balan- cing device and use it as a distance tool. xx2200001470 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 252 Apply some grease in the hole for the bearing in the cradle. Note Do not apply grease on surfaces with Mer- casol. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 253 Tightening torque: 280 Nm. cradle and balancing device as a distance tool, tighten the attachment screw com- pletely. Secure the balancing device. xx2200001475 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 254 (See figure). xx2300000004 Refit the screw (including washer) and the protection plug. xx2300000005 Wipe clean from residual grease. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 255 Remove the lifting accessory from the bal- ancing device. Remove the lock screw (M16x120). xx2200001332 Foundry Plus: Apply Mercasol in the hole for the locking screw. xx1400000372 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 256 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 257: Axes 3 And 4
Gasket and cassette sealing sette sealing (Graphite White) included 3HAC080504-004 IRB 6740-310/2.8 (ABB Orange) IRB 6740-260/3.0 IRB 6740-270/2.8 LID IRB 6740-230/3.0 LID Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 258 Preparations before removing the arm house cover Action Note Drain the axis-4 gearbox. Draining the axis-4 gearbox on page 153. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 259 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the wrist cover. xx2000000373 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 260 Cut the cable tie. xx2100002625 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 261 Disconnecting the axis-6 motor cables 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 262 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 263 Lift 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 264 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. xx2300000031 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 265 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2200002142 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 266 • Together: Move the cable harness xx2300000037 out of the arm tube. Person 2, working at the back: xx2300000038 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 267 Fit the cross to the tube shaft with four M8 screws. xx2100001243 Fit the three armed tool part with three screws and wing nuts. xx2100001254 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 268 Used oil is hazardous material and must be dis- posed of in a safe way. See Decommissioning on page 639 for more information. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 269 Prepare the refitting tool by removing the middle screw from the part of the tool designed as a cross. xx2100001265 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 270 Locking liquid: - (Loctite 2400 (or Ensure gap closure between cover and arm equivalent Loctite 243)) house. Tightening torque: 10 Nm xx2100001255 Remove the tool. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 271 Action Note Refit the metal clamp beneath the arm Torx pan head screw: M6x16 A4-80 house. Tightening torque: 10 Nm. xx2200002142 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 272 • Together: Use caution and move the cable harness into the arm tube. Person 2, working at the side hole: xx2300000040 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 273 Torx pan head screw: M6x16 A4-80 tube. Tightening torque: 10 Nm. Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 274 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 275 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 276 If not, connect the brake release tool to the axis-5 motor connector, release the brakes and move axis 5 manually to +90°. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 277 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 279 3HAC079381-004 (ABB Orange) xx2200001922 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 280 Refitting the wrist cover Action Note Make sure that the cable harness is routed and secured as shown in the figure. xx2100002626 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 281 154. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 282: Wrist
Bit holder and hexagon bit SW10 Bit holder dimension: 5/16" (14x18 mm) Used for screw access in narrow locations. Roundsling, 1 m Length: 1 m. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 283 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 284 Use this procedure to remove the wrist cover. 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 285 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 286 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 287 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Cut the cable tie. xx2100002625 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 288 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 289 Do not attach the roundsling around the axis-5 gearbox! Stretch the roundsling so it carries the weight of the wrist. xx2100001290 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 290 Refitting the wrist These procedures describes how to refit the wrist. Preparations before refitting the wrist Action Note Wipe clean all contact surfaces. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 292 650).. Connecting the axis-5 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 293 Connect the signal cable connector. Connect in accordance with the markings on the connectors. xx2200001734 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 294 A2-70 Use locking liquid. Locking liquid: - (Loctite 2400 (or equivalent Loctite 243)) Tightening torque: 6 Nm. xx2100002495 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 297 Verify correct cable layout as shown in the figure. CAUTION Route the signal cabling correctly to avoid cable damage. xx2300000920 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 298 Refit the motor cover. Torx pan head screw: M5x12 Stainless steel A2-70 (6 pcs) Tightening torque: 6 Nm. xx2200001434 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 299 Torx pan head screw: M6x16 A4-80 screws. Tightening torque: 10 Nm. Foundry Plus: Fit all the screws first, then torque tighten. xx2000000373 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 300 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 301: Replacing The Turning Disc
Turning disc 3HAC084274-002 IRB 6740-310/2.8 IRB 6740-260/3.0 Turning disc 3HAC082952-002 IRB 6740-240/3.2 Process turning disc 3HAC080682-004 IRB 6740-270/2.8 LID, IRB 6740-230/3.0 LID Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 302 Preparations before removing the turning disc Action Note Run the robot to a position most comfortable for the removal of the turning disc. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 303 Removing the turning disc Action Note Remove the screws and washers, that se- cure the turning disc. xx2200001807 Remove the turning disc. xx2100002168 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 304 24h.) figure. xx2100002232 Fit the turning disc to the wrist. Orient the disc according to the synchronization marks. xx2100002169 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 305 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 306: Electronic Parts
IRB 6740 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Cable harness 3HAC078462-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 308 Use this procedure to remove the wrist cover. 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 309 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 310 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 311 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Cut the cable tie. xx2100002625 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 312 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 313 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 314 Disconnect the signal cable connector by pulling it out. xx2200001737 Remove the cable bracket by removing the screws. xx2200001738 Remove the motor cables from the motor. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 315 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. xx2300000031 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 316 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2200002142 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 317 • Together: Move the cable harness xx2300000037 out of the arm tube. Person 2, working at the back: xx2300000038 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 318 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 Disconnect the earth cable. xx2200001790 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 320 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Remove the electronic box screws. xx2200001721 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 321 Removing the cable harness from the frame Action Note Loosen the cable bracket from the frame by removing the screws. xx2200001388 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 322 Remove the cable inlet screws inside the SMB recess xx2200001725 Loosen the cable inlet by cutting any seal- ing compound and carefully knocking the inlet loose. xx2200001739 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 323 Guide the SMB cables out from the SMB recess at the same time. xx2200001740 xx2200001741 Place the cable harness over the balancing device. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 324 Note The screws are reached from the outside of the lower arm. xx2100002182 xx2100002183 Use caution and pull the cable harness out. xx2300000052 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 325: Refitting The Cable Harness
IRB 6740 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Cable harness 3HAC078462-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 326 (ABB Orange) Cover, electronics 3HAC081189-003 Includes gasket. (Graphite White) Replace if damaged. 3HAC081189-004 (ABB Orange) Cable strap, outdoor 3HAC057966-003 Metal strap 3HAC033886-001 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 327 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 328 Refit the metal clamp to the arm house. Torx pan head screw: M6x16 A4-80 Tightening torque: 10 Nm. xx2200001433 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 329 Check that the cabling will stay a little bit twisted between the cable clamps. Do not change the position of the brackets! xx2100002182 xx2100002183 xx1300000595 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 330 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 331 Tightening torque: 10 Nm. xx2200001790 Refit the base cover. Torx pan head screw: M6x16 Stainless steel A2-70 (5 pcs) Tightening torque: 10 Nm. xx2100000981 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 332 If cabling is used for 7th axis (option), refit the connector R1.SMB7 Connect the connectors R2.BU1 and R2.BU2 to the brake release board. xx2200001726 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 333 Collect the cables for axis-1 and axis-2 Cable strap, outdoor: 3HAC057966-003 (1 motors, and secure them at the frame with pcs) straps. xx2200001752 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 334 Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001738 Connect the motor cables. Note Connect in accordance with the markings on the connectors. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 336 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 337 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 338 Together: Move the cable harness xx2300000035 past the axis-5 motor and into the wrist. Person 2, working at the wrist: xx2300000041 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 339 Make sure the gasket is fitted cor- rectly on the side cover • Use attachment screws made of stainless steel to fit the side cover. xx2300000031 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 340 Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001738 Connect the motor cables. Note Connect in accordance with the markings on the connectors. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 342 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 343 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 344 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 345 If not, connect the brake release tool to the axis-5 motor connector, release the brakes and move axis 5 manually to +90°. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 346 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 348 3HAC079381-004 (ABB Orange) xx2200001922 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 349 Refitting the wrist cover Action Note Make sure that the cable harness is routed and secured as shown in the figure. xx2100002626 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 350 Torx pan head screw: M6x16 A4-80 screws. Tightening torque: 10 Nm. Foundry Plus: Fit all the screws first, then torque tighten. xx2000000373 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 351 616. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 352: Replacing The Brake Release Unit
(ABB Orange) Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 353 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 354 ESD on page Disconnect all connectors from the SMB board. Remove the screws that secure the SMB unit. xx2200001723 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 355 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 356 Check the electronic box gasket. Cover, electronics: Replace if damaged. 3HAC081189-003 (Graphite White) 3HAC081189-004 (ABB Orange) Fit the SMB unit into the electronic box. xx2200001724 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 357 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 358 616. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 359: Replacing The Smb Unit
(ABB Orange) Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 360 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 361 ESD on page Disconnect all connectors from the SMB board. Remove the screws that secure the SMB unit. xx2200001723 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 362 Check the electronic box gasket. Cover, electronics: Replace if damaged. 3HAC081189-003 (Graphite White) 3HAC081189-004 (ABB Orange) Fit the SMB unit into the electronic box. xx2200001724 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 363 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 364 616. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 365: Motors
IRB 6740 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Motor unit (including connection 3HAC077936-003 box and pinion) (Graphite White) 3HAC077936-004 (ABB Orange) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 366 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 367 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 368 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 370 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2200001794 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 371 30 seconds. Use the spe- cified brake release tool to eliminate the risk. CAUTION The weight of the motor is 19 kg Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 372 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 373 Always use guide pins in pairs. xx2200001819 CAUTION The weight of the motor is 19 kg Fit the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 374 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable gland exit is facing the correct way. xx2200001793 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 375 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001738 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 377 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 378 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2200002147 Re-calibrate the robot. Calibration on page 609. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 379 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 380: Replacing The Axis-2 Motor
IRB 6740 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note Level Motor unit (including connection 3HAC072099-005 box and pinion) (Graphite White) 3HAC072099-006 (ABB Orange) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 381 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 382 Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Jog the robot to the synchronization position. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 383 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 385 Verify that the lower arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 386 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2000000468 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 387 Activate the brake release tool again (re- The power is only applied for 180 seconds lease the brakes). after activation. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 388 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 389 Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100000593 CAUTION The weight of the motor is 22 kg Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 390 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. xx2000000457 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 391 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable exit is facing the correct way. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 392 Performing a leak-down test on page 178. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 394 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 395 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 396: Replacing The Axis-3 Motor
Loctite 5800 Required tools and equipment Equipment Article number Note Brake release tool 3HAC081310-001 User instructions are enclosed with the tool. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 397 • Robot in synchronization position: use lift- ing slings and an overhead crane to rest the upper arm onto. xx2200001810 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 398 Remove the motor cover by removing the screws. Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 399 Remove the motor cables from the motor. Removing the axis-3 motor Action Note Before removing the motor, make sure that the gearbox is completely drained. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 400 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2300000045 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 401 The motor shall be refitted in the same position. xx2100002149 Make sure the pinion is not damaged. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 402 Refitting the axis-3 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100002151 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 403 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 404 Performing a leak-down test on page 178. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 406 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 407 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 408: Replacing The Axis-4 Motor
3HAC072863-003 Replace if damaged. gasket (Graphite White) On axis-4 motor 3HAC072863-005 (ABB Orange) Cleaning agent Loctite 7200 Cleaning agent Loctite 7063 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 409 Preparations before removing the motor Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 410 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 412 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Unscrew the attachment screws that secure the motor. xx2300000008 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 413 Removal tool motor M12: 3HAC14631-1 Used to push out the motor, if ne- cessary. Always use removal tools in pairs. xx2300000047 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 414 Press the motor out of its position by using the removal tools. CAUTION The weight of the motor is 12 kg Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 415 Note The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 416 Always use guide pins in pairs. xx2100002201 CAUTION The weight of the motor is 12 kg Apply the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 417 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 418 Performing a leak-down test on page 178. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 420 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 421 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 422: Replacing The Axis-5 Motor
User instructions are enclosed with the tool. Guide pin, M10x150 3HAC15521-2 Always use guide pins in pairs. Bits extender 3HAC12342-1 300 mm, bits 1/2" Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 423 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 424 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Cut the cable tie. xx2100002625 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 425 Remove the motor cover by removing the screws. xx2100002495 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 426 Press the motor out of its position by using the Used to push out the motor, if ne- removal tools. cessary. Always use removal tools in pairs. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 427 Remove the motor by carefully lifting it straight out/straight up. Make sure the pinion is not damaged. xx2300000204 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 428 Apply the rotation tool and use it to rotate Rotation tool M4: 3HAB7887-1 the pinion when mating it into the gear. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 429 • the direction of the cable exit is fa- cing the same way as before remov- xx2300000204 Remove the guide pins. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 430 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 431 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 432 Refitting the wrist cover Action Note Make sure that the cable harness is routed and secured as shown in the figure. xx2100002626 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 433 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 434: Replacing The Axis-6 Motor
(Graphite White) On axis-6 motor 3HAC079381-004 (ABB Orange) Cleaning agent Loctite 7200 Cleaning agent Loctite 7063 Flange sealant Loctite 5800 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 435 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 436 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 437 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 438 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 439 24V is supplied to the motor connector for more than 30 seconds. Use the spe- cified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 440 Gleitmo 603+Geomet 500 (4 pcs) Tightening torque: 24 Nm xx2200001806 Perform a leak-down test. Performing a leak-down test on page 178. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 441 Handle it with care to avoid dam- age to the cabling or the connector, avoid any kind of tilt or skew. xx2200001730 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 442 Refit the motor cover. Torx pan head screw: M5x12 Stainless steel A2-70 (6 pcs) Tightening torque: 6 Nm. xx2200001434 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 443 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 444: Gears
6 Remove the complete arm system (complete robot excluding the base and axis-1 gearbox) as an assembly. 7 Replace the axis-1 gearbox. The axis-1 cassette sealing must also be replaced. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 445 3HAB3772-58 On axis-1 protection ring. Protection plug 3HAC4836-26 Located at the front link ear of the balancing device. Replace if damaged. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 446 Lifting eye 3HAC16131-1 M12, 2 pcs Lifting shackle SA-10-8-NA1 Roundsling, 0.5 m Length: 0.5 m. Roundsling, 1 m Length: 1 m. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 447 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 448 Removing the covers for Foundry Plus and floor mounted robots Action Note Protection type Foundry Plus Remove the axis-1 cable protection plates by removing the attachment screws. xx2200001430 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 449 Hydraulic press equipment, balancing device (3HAC074411-001). 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 450 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 451 Removing the shaft in the front (link ear) Action Note Remove the protection plug at the link ear. xx2200001460 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 452 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 453 VK cover, 100x10: 3HAA2166-13 Position for screwdriver: xx1300000662 Vent hole for air pressure: xx2300000003 Wipe off any residual grease inside the re- cess. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 454 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 455 Run a roundsling through each lifting eye and at- Roundsling, 0.5 m tach to an overhead crane. Raise the lifting equipment to secure the weight of the cradle. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 456 Axis 2: -45° • Axis 3: +70° • Axis 4: calibration position (0°) • Axis 5: +90° • Axis 6: no significance. xx2300000859 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 457 Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx2200001522 Fit a roundsling to the lifting eye. Roundsling, 0.5 m xx2200001523 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 458 Without the roundsling the weight of the lower arm and frame is applied to the axis-3 gear during lifting, which risks to damage the gear. xx2300000867 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 459 Adjust the chain lengths to make the lift as level as possible. xx2200001526 The figure shows an example of lifting chain lengths. Keep chain (a) shorter than chain (b). Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 460 Floor-mounted robot: Draining the axis-1 gearbox on page 138. Note There will be some oil left in the gear after draining. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 462 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2200001794 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 463 30 seconds. Use the spe- cified brake release tool to eliminate the risk. CAUTION The weight of the motor is 19 kg Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 464 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the base cover. xx2100000981 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 465 Pull out the robot cable harness through the protection tube. xx2200001740 Place the cable harness safely on the frame or on the axis-2 motor. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 466 Lifting away the complete arm system Action Note Check that the axis-1 gearbox is drained and then remove the draining equipment. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 467 5 Repair 5.9.1 Replacing the axis-1 gearbox Continued Action Note Raise the overhead crane to stretch all lifting accessories. xx2300000914 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 468 5.9.1 Replacing the axis-1 gearbox Continued Action Note Remove the remaining attachment screws that hold the frame to the axis-1 gearbox. xx2200001403 xx2200001405 xx2300000870 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 469 The weight of the complete arm system is 865-895 kg (depending on robot variant) All lifting accessories must be sized accord- ingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 470 Removing the axis-1 gearbox Action Note Remove the attachment screws and washers that secure the gearbox to the base. xx2200001408 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 471 All lifting accessories used must be sized accordingly. Protect the sealing areas on top of the tube, to avoid damaging them. xx2200001412 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 472 Attach the lifting accessory (chain) to the Lifting accessory (chain): 3HAC15556-1 lifting eyes and lift away the gearbox. xx2200001411 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 473 Wipe clean the contact surfaces on the base and the surfaces of the sealing tube from any contamination. Put grease on the sealing tube. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 474 CAUTION The weight of the gearbox is 85 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 475 Check the o-ring and lubricate. O-ring: A 3HAB3772-164 Replace if damaged. B 3HAC061327-065 Grease, Shell Gadus S2: 3HAC042536- 001. xx2200001407 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 476 Removing the protection ring in the frame Action Note Foundry Plus Cut the flange sealant at the protection ring. Remove the protection ring. xx2200001610 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 477 Make sure that the o-ring is still fitted cor- rectly when the gearbox is being fitted. xx2300000012 Remove the guide pins. Remove the lifting accessory and the lifting eyes. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 478 Apply some grease on: • the edge of the sealing tube • the edge around the gearbox. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 479 All lifting accessories must be sized accord- ingly. Make sure that all lifting accessories still is fitted correctly on the arm system. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 480 Lower the arm system to align the longest guide pin into the hole. Lower the arm system to align the other guide pin into the hole. xx2200001420 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 482 Tightening torque: standard torque 300 Nm (Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 650). xx2200001421 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 483 (Molykote, Gleitmo or equivalent) with allen Tighten the remaining, accessible attach- head screws on page 650). ment screws. xx2200001403 xx2200001405 xx2300000870 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 484 (groove down- wards). xx2100001189 Fit the second part of the mounting tool on top of the sealing. xx2100001191 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 486 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 487 Always use guide pins in pairs. xx2200001819 CAUTION The weight of the motor is 19 kg Fit the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 488 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable gland exit is facing the correct way. xx2200001793 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 489 Refitting the cable harness in the base Action Note Run the robot cable harness through the frame recess and down through the protec- tion tube. xx2200001924 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 490 Tightening torque for R1.SMB: 10 Nm. xx2100001109 Connect the earth cable. Screw dimension: M6x16. Washer dimension: 6.4x17x3. Tightening torque: 10 Nm. xx2200001790 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 491 Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001738 Connect the motor cables. Note Connect in accordance with the markings on the connectors. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 493 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 494 Apply rust preventive on the surfaces shown ing time is 24h.) in the figure, on stop pin and in the hole as shown in the figure. xx2100001139 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 495 Preparations before refitting the cradle and the balancing device Action Note Turn on the power to the robot temporarily. Jog axis-2 to the calibration position. xx2300000906 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 496 Tightening torque: standard torque 300 Nm (Tightening torque for lub- ricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 650). xx2300000857 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 497 140 kg All lifting accessories used must be sized accordingly. Lift the balancing device into position in the cradle. xx2200001469 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 498 Lifting shackle: SA-10-8-NA1 (if not already done). Lifting accessory (chain): 3HAC15556-1 Remove all residue of Loctite in the screw hole of the shaft. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 499 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 500 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 501 Securing the shaft ends Action Note Secure both shaft end screws with tighten- Tightening torque: 280 Nm ing torque. xx2200001471 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 502 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 503 Hex socket head cap screw: M10x16 stainless steel A2-70 (3 pcs) xx2200001430 Concluding procedure Action Note Remove the lifting accessories. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 504 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 505: Replacing The Axis-2 Gearbox
DressPack in the base and in the frame must be removed first. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 506 The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 6740 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 507 Screws M10x80, fully threaded Used to push out the gearbox, if necessary. Lifting accessory for gear 3HAC081585-001 For lifting the gearbox Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 508 Loctite 5800 Lubricating oil Type of lubrication in gear- boxes on page 135. Locking liquid Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 509 When performing these procedures, the cable harness will still be fitted or partly fitted to the robot. Use extreme caution not to cause any damage to the cable harness. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 510 Hydraulic press equipment, balancing device (3HAC074411-001). 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 511 CAUTION The weight of the balancing device (exclud- ing cradle) is 140 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 512 Removing the shaft in the front (link ear) Action Note Remove the protection plug at the link ear. xx2200001460 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 513 Read and follow enclosed user instructions for the tool. Action Note Put down the balancing device and let it rest on the frame. xx2200001462 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 514 All lifting accessories used must be sized accord- ingly. Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx2200001522 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 515 Note Make sure the roundsling is stretched, in order to carry the weight of the lower arm. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 516 Raise the overhead crane to stretch the chains and roundslings. Verify that the roundsling between the wrist and the lower arm is stretched. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 517 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 519 Verify that the lower arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 520 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2000000468 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 521 Activate the brake release tool again (re- The power is only applied for 180 seconds lease the brakes). after activation. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 522 Use different lengths on the guide pins to simplify guidance. Lubricate the guide pins with some grease to make the lower arm slide better. xx2300000675 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 523 The weight of the complete upper and lower arm together is 535-565 kg (depend- ing on robot variant) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 524 CAUTION Check that the cable bracket underneath the arm housing is not damaged. xx2100001103 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 525 CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 526 Remove the two protection plugs and use Screws M10x80, fully threaded: - removal tools to press the gearbox out of position. xx2300000702 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 527 Preparations before refitting the axis-2 gearbox Action Note CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 528 Note Also wipe clean the o-ring groove. Check the o-ring. O-ring: 3HAC061327-067 Replace if damaged. xx2100001132 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 529 Use this procedure to refit the gearbox. Action Note CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 530 There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins and no stoppers are used. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 531 Tightening torque: standard torque 120 Nm (Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 650).. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 532 Make sure: • not to stretch any of the cables • that the arm package is level when lifted. xx2300000027 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 534 Preparations prior to refitting motor 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 535 Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100000593 CAUTION The weight of the motor is 22 kg Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 536 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. xx2000000457 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 537 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable exit is facing the correct way. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 538 Performing a leak-down test on page 178. Connecting the axis-2 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 540 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 541 Check that the cabling will stay a little bit twisted between the cable clamps. Do not change the position of the brackets! xx2100001104 xx1300000595 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 542 Remove all residue of Loctite in the screw hole of the shaft. Wipe all contact surfaces inside the recess clean from contamination. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 543 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx2200001917 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 544 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2200001916 Secure the shaft with screw and washer. Tightening torque: 200 Nm xx2200001461 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 545 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 546 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 547: Replacing The Axis-3 Gearbox
(Graphite White) 3HAC082815-004 (ABB Orange) Required service parts Consumable Article number Note O-ring 3HAC061327-066 Cleaning agent Isopropanol Cleaning agent Loctite 7200 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 548 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 652. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 551 Disconnecting the axis-6 motor cables 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 552 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 553 Lift 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 554 Cut the cable tie. xx2100002625 Remove the motor cover by removing the screws. xx2100002495 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 555 Disconnecting the axis-3 and axis-4 motor cables 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 557 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 558 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2200002142 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 559 • Together: Move the cable harness xx2300000037 out of the arm tube. Person 2, working at the back: xx2300000038 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 560 Keep chain (b) shorter than chain (a). Raise the lifting accessories to take the weight of the upper arm. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 561 Verify that the upper arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 562 Remove the two lower screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2300000045 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 563 The motor shall be refitted in the same position. xx2100002149 Make sure the pinion is not damaged. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 564 (chain), and make sure to place the chain the right way through the loops. xx1400002197 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 565 3HAC13056-2 / 3HAC13056-3 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the gearbox slide better. xx2300000209 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 567 Preparations before refitting the axis-3 gearbox Action Note CAUTION The weight of the gearbox is 56 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 568 O-ring: 3HAC061327-066 Replace if damaged. xx2100001237 Lubricate the contact surface inside the Grease, Shell Gadus S2: 3HAC042536-001. upper arm with grease. xx2100002775 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 569 Slide the gearbox into position and fit the Hex socket head cap screw : M12x50 12.9 attachment screws and washers. Gleitmo 603+Geomet 500 (32 pcs ). xx2300000154 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 570 All lifting accessories used must be sized accordingly. Attach the lifting accessories, if not already Attaching the lifting accessories to the fitted. upper arm on page 560. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 571 Tightening torque: standard torque 120 Nm (Tightening torque for lubricated screws (Molykote, Gleitmo or equivalent) with allen head screws on page 650).. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 572 Refitting the axis-3 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100002151 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 573 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 574 Tighten the screws. Tightening torque: 50 Nm. Disconnect the brake release tool. Perform a leak-down test. Performing a leak-down test on page 178. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 575 • Together: Use caution and move the cable harness into the arm tube. Person 2, working at the side hole: xx2300000040 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 576 Torx pan head screw: M6x16 A4-80 tube. Tightening torque: 10 Nm. Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 577 (shown in figure), to avoid deformation. xx2100002636 Reconnecting the axis-3 and axis-4 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 579 3HAC072863-005 (ABB Orange) xx2100000600 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 580 Put the motor cables in place in the open- ing. Refit the cable bracket with the screws. Torx pan head screw: M3x12 Stainless steel A2-70 xx2200001735 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 581 Connect in accordance with the markings on the connectors. xx2200001734 Inspect the gasket. Connection box cover with gasket: 3HAC072863-003 Replace if damaged. xx2200002141 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 582 If not, connect the brake release tool to the axis-5 motor connector, release the brakes and move axis 5 manually to +90°. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 583 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 585 3HAC079381-004 (ABB Orange) xx2200001922 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 586 Refitting the wrist cover Action Note Make sure that the cable harness is routed and secured as shown in the figure. xx2100002626 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 587 Use this procedure to refit the cable brackets. Action Note Remove the lifting accessories. Move the cable harness and DressPack back to the correct side of the robot. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 588 Tightening torque: 10 Nm. xx2200001433 Refit the metal clamp beneath the arm Torx pan head screw: M6x16 A4-80 house. Tightening torque: 10 Nm. xx2200002142 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 589 Refill oil in the gearbox. Filling oil into the axis-3 gearbox on page 150. Calibrate the robot. Calibration on page 609. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 590 Note DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 591: Replacing The Axis-6 Gearbox
Used on oil plug. Always replace when refitting oil plug. Cleaning agent Isopropanol P-80 rubber lubration gel 3HAC074427-001 P-80 Emulsion IFC Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 592 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 593 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 594 Disconnecting the axis-6 motor cables 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 595 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Remove the connector screw. xx2200001731 Disconnect the motor cables. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 596 Unscrew the attachment screws that secure IRB 6740-310/2.8, IRB 6740-260/3.0, IRB the axis-6 gearbox. 6740-270/2.8 LID, IRB 6740-230/3.0 LID: xx2300000667 IRB 6740-240/3.2, IRB 6740-220/3.2 LID: xx2200001804 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 597 Note Remove the synchronization plate axis-6. xx2300001096 Fit guide pins. Guide pin, M6x150: 3HAC080345-001 Always use guide pins in pairs. xx2200001821 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 598 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 599 Wipe clean the contact surfaces of both Cleaning agent: Isopropanol gearbox and wrist from any contamination. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 600 Protection type Foundry Plus: Flange sealant: Loctite 5800 Apply flange sealant on the surface shown in the figure. xx2100002233 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 601 Fit guide pins. Guide pin, M6x150: 3HAC080345-001 Always use guide pins in pairs. xx2200001822 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 602 Verify that the oil plug is removed so the air can be pressed out during fitting of the gearbox. xx2300000666 IRB 6740-240/3.2, IRB 6740-220/3.2 LID: xx2200001803 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 603 178. Jog axis-5 to horizontal position. Refill oil in the gearbox. Filling oil into the axis-6 gearbox on page 164. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 605 3HAC079381-004 (ABB Orange) xx2200001922 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 606 24h.) figure. xx2100002232 Fit the turning disc to the wrist. Orient the disc according to the synchronization marks. xx2100002169 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 607 609. DANGER Make sure all safety requirements are met when performing the first test run. See Test run after installation, maintenance, or repair on page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
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Page 609: Calibration
Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.
Page 610: Calibration Methods
The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant. You will be guided through the calibration procedure, step by step. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 611 References Article numbers for the calibration tools are listed in the section Special tools on page 653. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 612: 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. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.
Page 613: Synchronization Marks And Axis Movement Directions
This section shows the position of the synchronization marks and the synchronization position for each axis. Synchronization marks, IRB 6710, IRB 6720, IRB 6730, IRB 6740 xx2200002087 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 614 6 Calibration 6.2.1 Synchronization marks and synchronization position for axes Continued xx2200002088 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 615: Calibration Movement Directions For All Axes
Positive directions are shown in the graphic below. Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below. Manual movement directions xx2200002089 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 616: Updating Revolution Counters
The calibration options are displayed. Tap Revolution Counters. In the Selection column select the axes for which revolution counters need to be up- dated. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 617 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 632. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 618: 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 619 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 620 New calibration values have to be downloaded to SafeMove, and a new SafeMove calibration has to be done. Make sure that the user rights admit to change the safety settings and to synchronize SafeMove. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 621: 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 622 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 623: Installation Locations For The Calibration Tools
This is shown in the figure. xx2300000256 Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 624 Protection cover and plug set 3HAC064875-001 Contains replacement calibration (axes 1, 2, 3 and 4) pin covers and protective plugs for the bushings. 3HAC059487-001 (axes 5 and 6) Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 625: 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 626 For RobotWare 7, the mechanical unit page is displayed only if there is more than one mechan- ical unit available. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
Page 627 Axis Calibration routine. When a warning message is displayed, tap Acknowledge to confirm the unsynchronized state and continue Axis Calibration procedure. CAUTION SafeMove must be synchronized after the calibration is completed. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 628 Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: . 3HAC064875-001 (axes 1, 2, 3 and 3HAC059487-001 (axes 5 and 6) Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 629: Reference Calibration
(step 5, see Brief introduction to Reference Calibration on page 629). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 630 10 Check again against the verification position. 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 631: 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 632: Checking The Synchronization Position
If they do not, up- ization position for axes on page 613 date the revolution counters. Updating revolution counters on page 616. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 633: Troubleshooting
Make a historical fault log to keep track of problems over time. • Consult those working with the robot when the problem occurred. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 634 The robot has recently Check: been moved from one site • connections to another (an already • software versions working robot) Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 635: Oil And Grease Stains On Motors And Gearboxes
"cooling periods" into the your local ABB representative. application. • Overpressure created inside gearbox. Inspect all sealings and gaskets between motor and gearbox. Replace broken parts. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 636: Mechanical Noise Or Dissonance
Make sure the bearings are fitted correctly. Tighten the screws if a heat sink, fan, or metal sheet is loose. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 637: Manipulator Collapses On Power Down
Remove the motor from the gearbox to in- If found faulty, the motor must be replaced spect it from the drive side. as a complete unit. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
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Page 639: Decommissioning
See also Environmental information on page 640. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 640: Environmental Information
8.2 Environmental information 8.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
Page 641 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 642: Scrapping Of Robot
• A used robot does not have the same performance as on delivery. Springs, brakes, bearings, and other parts might be worn or broken. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 643: Decommissioning Of Balancing Device
The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 644 • Inner spring: cut at least four coils! Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 645: Reference Information
9.1 Introduction 9 Reference information 9.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 646: Applicable Standards
Industrial robots and robot Systems - General safety require- ments CAN/CSA Z 434-14 EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 647: Unit Conversion
1 kg 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 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 648: Screw Joints
9.4 Screw joints 9.4 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 649 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 650 Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Lubricated with Molycote 1000, Gleitmo 603 or equivalent Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 651: 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 652: Standard Toolkit
Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Hexagon socket spanner no. 8 Screwdriver for hexagon screws, used for the power cable connector at the base. Plastic mallet Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 653: Special Tools
Special tools Note If the replacing procedure is not listed in the table below, only standard tools are needed for the procedure. Continues on next page Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 654 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Removal/refitting tools Replacement tool for cassette 3HAC079880-001 sealing xx2100002288 Replacement tool for arm house 3HAC079878-001 cover xx2100002289 3HAC028920-001 Dismantle and mounting tool...
Page 655 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC13086-1 Hydraulic pump 80 MPa 3HAC11731-1 Hydraulic cylinder Lifting accessories Roundsling, 0.5 m Roundsling, 1 m Roundsling, 1.5 m Roundsling, 2 m...
Page 656 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC080345-001 Guide pin, M6x150 3HAC15520-2 Guide pin, M8x150 3HAC15521-2 Guide pin, M10x150 3HAC13056-2 Guide pin, M12x150 3HAC13056-3 Guide pin, M12x200...
Page 657: Lifting Accessories And Lifting Instructions
The use of each piece of lifting accessories is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting accessories. The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
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Page 659 56 disposal, 640 batteries disposal, 640 bearing environmental information, 640 balancing device front eye, 170 EPS, 91 Brake power supply, faulty, 637 equipment, robot, 78 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 660 6, 132 installation operating conditions, 39 equipment, 78 option installation procedure, 55 Extended working range, 91 instructions for assembly, 51 original spare parts, 15 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 661 40 upcycling, 640 protection types, 40 updating revolution counters, 616 symbols, 19 users technical data, 37 requirements, 16 working range, 41 validity and responsibility, 15 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 662 457, 469, 479 robot, 65, 69, 73 zero position upper and lower arm, 514, 523, 532 checking, 632 upper arm, complete, 560, 570 Product manual - IRB 6740 3HAC085701-001 Revision: A © Copyright 2023 ABB. All rights reserved.
Page 664 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 2023 ABB. All rights reserved. Specifications subject to change without notice.

ABB OmniCore IRB 6740 Product Manual

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