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4.2.3
Expected component life .........................................................................
4.3
Inspection activities ...........................................................................................
4.3.1
Inspecting the motor seal .........................................................................
4.3.2
Inspecting the balancing device ................................................................
4.3.3
Inspecting the cable harness ....................................................................
4.3.4
Inspecting the dampers ...........................................................................
4.3.5
Inspecting the information labels ...............................................................
4.3.6
Inspecting the axis-1 mechanical stop ........................................................
4.3.7
Inspecting the oil level in axis-1 gearbox .....................................................
4.3.8
Inspecting the oil level in axis-2 gearbox .....................................................
4.3.9
Inspecting the oil level in axis-3 gearbox .....................................................
4.3.10 Inspecting the oil level in axis-4 gearbox .....................................................
4.3.11 Inspecting the oil level in axis-5 gearbox .....................................................
4.3.12 Inspecting the oil level in axis-6 gearbox .....................................................
4.4
Replacement/changing activities ..........................................................................
4.4.1
Type of lubrication in gearboxes ................................................................
4.4.2
Changing the oil in axis-1 gearbox .............................................................
4.4.3
Changing the oil in axis-2 gearbox .............................................................
4.4.4
Changing the oil in axis-3 gearbox .............................................................
4.4.5
Changing the oil in axis-4 gearbox .............................................................
4.4.6
Changing the oil in axis-5 gearbox .............................................................
4.4.7
Changing the oil in axis-6 gearbox .............................................................
4.4.8
Replacing the SMB battery .......................................................................
4.5
Lubrication activities ..........................................................................................
4.5.1
Lubricating the spherical roller bearing, balancing device ..............................
4.6
Cleaning activities .............................................................................................
4.6.1
Cleaning the IRB 6720 ..............................................................................
5
5.1
Introduction ......................................................................................................
5.2
General procedures ...........................................................................................
5.2.1
Performing a leak-down test ......................................................................
5.2.2
Mounting instructions for bearings .............................................................
5.2.3
Mounting instructions for sealings ..............................................................
5.2.4
Cut the paint or surface on the robot before replacing parts ............................
5.3
Balancing device ...............................................................................................
5.3.1
Replacing the balancing device .................................................................
5.3.2
Replacing spherical roller bearing, balancing device link ear ...........................
5.3.3
Replacing the rear bearings on the balancing device .....................................
5.4
Axes 3 and 4 ....................................................................................................
5.4.1
5.5
Wrist ...............................................................................................................
5.5.1
Replacing the wrist .................................................................................
5.5.2
Replacing the turning disc ........................................................................
5.6
Electronic parts .................................................................................................
5.6.1
Removing the cable harness ....................................................................
5.6.2
Refitting the cable harness .......................................................................
5.6.3
Replacing the brake release unit ...............................................................
5.6.4
Replacing the SMB unit ...........................................................................
5.7
Motors ............................................................................................................
5.7.1
Replacing the axis-1 motor .......................................................................
5.7.2
Replacing the axis-2 motor .......................................................................
5.7.3
Replacing the axis-3 motor .......................................................................
5.7.4
Replacing the axis-4 motor .......................................................................
5.7.5
Replacing the axis-5 motor .......................................................................
5.7.6
Replacing the axis-6 motor .......................................................................
5.8
Gears ..............................................................................................................
5.8.1
Replacing the axis-1 gearbox ....................................................................
5.8.2
Replacing the axis-2 gearbox ....................................................................
6
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Product manual - IRB 6720
3HAC085697-001 Revision: C
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Table of Contents
Troubleshooting
