ABB IRB 7720 Product Manual
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ABB IRB 7720 Product Manual

ABB IRB 7720 Product Manual

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IRB 7720

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Summary of Contents for ABB IRB 7720

  • Page 1 ROBOTICS Product manual IRB 7720...
  • Page 2 Trace back information: Workspace 24C version a5 Checked in 2024-09-17 Skribenta version 5.5.019...

  • Page 3: Product Manual

    Product manual IRB 7720 OmniCore Document ID: 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Robot cabling and connection points ............Maintenance Introduction ...................... Maintenance schedule and expected component life ..........4.2.1 Specification of maintenance intervals ............4.2.2 Maintenance schedule ................Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 6 5.9.1 Removing the cable harness ..............5.9.2 Refitting the cable harness ............... 5.9.3 Replacing the brake release unit ............... 5.9.4 Replacing the SMB unit ................Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...

  • Page 9: Overview Of This Manual

    Standard • Foundry Plus Product manual scope The manual covers all variants and designs of the IRB 7720. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
  • Page 10 3HAC089629-001 Technical reference manual - System parameters 3HAC065041-001 Operating manual - Integrator's guide OmniCore 3HAC065037-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. Published in release 24C. The following updates are made in this revision: •...

  • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 14 This page is intentionally left blank...

  • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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. xx2400000736 xx1500002616 Brake release buttons xx2100002463 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 23 No mechanical stop xx1000001144 Stored energy Warns that this part contains stored energy. Used in combination with Do not disassemble symbol. xx0900000825 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 25: Robot Stopping Functions

    The protective stops and emergency stops are described in the product manual for the controller. For more information see: • Product manual - OmniCore V400XT Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 27 Water • Compressed air • Hydraulics End-effector hazards require particular attention for applications which involve close human collaboration with the robot. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 28 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 29: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 30: Safety During Maintenance And Repair

    90 °C. Hot oil or grease Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 31 Specified amount de- on how much has previously pends on drained been drained from the gearbox. volume Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 32 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 33: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 34: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 35: 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 36: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 37: Technical Data

    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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 38 ±29.8 kN Force z 32.6 ±6 kN 32.6 ±19.3 kN Torque xy ±42.3 kNm ±83 kNm Torque z ±7.3 kNm ±20.4 kNm Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 41: Working Range

    2.2 Working range Illustration, working range IRB 7720-620/2.9 This illustration shows the unrestricted working range of the robot. 1130 2905 xx2400000318 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 42 2.2 Working range Continued Illustration, working range IRB 7720-530/3.1 This illustration shows the unrestricted working range of the robot. 1166 3075 xx2400000320 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 43 2.2 Working range Continued Illustration, working range IRB 7720-510/3.3 This illustration shows the unrestricted working range of the robot. 1277 3324 xx2400000322 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 44 2.2 Working range Continued Illustration, working range IRB 7720-450/3.5 This illustration shows the unrestricted working range of the robot. 1405 3526 xx2400000324 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 45 2 Technical data 2.2 Working range Continued Illustration, working range IRB 7720-560/2.9 LID This illustration shows the unrestricted working range of the robot. 1130 2905 xx2400000319 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 46 2 Technical data 2.2 Working range Continued Illustration, working range IRB 7720-480/3.1 LID This illustration shows the unrestricted working range of the robot. 1166 3075 xx2400000321 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 47 2 Technical data 2.2 Working range Continued Illustration, working range IRB 7720-400/3.3 LID This illustration shows the unrestricted working range of the robot. 1277 3324 xx2400000323 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 48 2 Technical data 2.2 Working range Continued Illustration, working range IRB 7720-400/3.5 LID This illustration shows the unrestricted working range of the robot. 1405 3526 xx2400000325 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 49 2 Technical data 2.2 Working range Continued Top view of working range IRB 7720-620/2.9, IRB 7720-560/2.9 LID (R1129) (R2903) (2x 170°) xx2400000326 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 50 2 Technical data 2.2 Working range Continued IRB 7720-530/3.1, IRB 7720-480/3.1 LID (R1182) (R3123) (2x 170°) xx2400000327 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 51 2 Technical data 2.2 Working range Continued IRB 7720-510/3.3, IRB 7720-400/3.3 LID (R1277) (R3324) (2x 170°) xx2400000328 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 52 Axis 4 ±300° Axis 5 ±130° IRB 7720-620/2.9, IRB 7720-530/3.1, IRB 7720- 510/3.3, IRB 7720-450/3.5 ±120° IRB 7720-560/2.9 LID, IRB 7720-480/3.1 LID, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID Axis 6 ±360° IRB 7720-620/2.9, IRB 7720-530/3.1, IRB 7720- 510/3.3, IRB 7720-450/3.5 ±220°...
  • Page 53 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 54: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 55: Installation And Commissioning

    Read the chapter Safety on page 15 before performing any installation work. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 56: 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 57: Risk Of Tipping/Stability

    Axis number Angle of axis Axis 1 0° (or 90°) Axis 2 -55° Axis 3 +10° Axis 4 +90° Axis 5 -90° Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 58 3.2.2 Risk of tipping/stability Continued Axis number Angle of axis Axis 6 0° WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 59: On-Site Installation

    Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the IRB 7720. Action Note Transport the manipulator to its intended location.

  • Page 60: Installing A Base Plate

    Note Do not use a base plate for installation of an inverted robot. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 61: Base Plate Drawing

    Base plate, locating pins on page 65 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 62 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 63 697,2 680,1 681,9 672,5 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 64 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 65 The figure below shows the locating pins installed in the base plate. xx1500000250 Description Locating pin: 3HAC051645-001 (2 pcs) M5 x 40. Tightening torque 6 Nm. (x2) Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 66 Assembly of locating pins on page 65.) Threaded M6 hole that can be used for removal of the locating pin, for example with a slide hammer. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 67 If required, fit strips of sheet metal underneath the base plate to fill any gaps. Secure the base plate to the foundation with screws and sleeves. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 68 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 69: Lifting The Robot

    Directions for use - Fork lift accessory set 3HAC047054- 3HAC048484-002 Lifting the robot Action Note Lift the robot with a fork lift according to the user instructions enclosed with the fork lift accessory. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 70: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 71 Use a roundsling (for example 1 m) to avoid scratches on the manipulator combined with lifting chains, to get the exact length of the lifting accessory for a balanced lift of the manipulator. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 72 3 Installation and commissioning 3.3.3.2 Lifting the robot with roundslings Continued CAUTION The weight of the IRB 7720 robot is 2,590 - 2,690 kg (depending on robot variant) All lifting accessories used must be sized accordingly. Required tools and equipment Equipment...
  • Page 73 Use a roundsling (for example 1 m) to avoid scratches on the manipulator combined with lifting chains, to get the exact length of the lifting accessory for a balanced lift of the manip- ulator. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 74 3.3.3.2 Lifting the robot with roundslings Continued Action Note WARNING Personnel must not, under any circumstances, be present under the suspended load. Raise the overhead crane to lift the robot. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 77: Orienting And Securing The Robot

    Locating pins are also required for robots with option Absolute Accur- acy. For more information, see Base plate, locating pins on page Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 78 3.3.5 Orienting and securing the robot Continued Action Note CAUTION The weight of the IRB 7720 robot is 2,590 - 2,690 kg (depending on robot variant) All lifting accessories used must be sized accord- ingly. CAUTION When the robot is put down after being lifted or transported, there is a risk of it tipping, if not properly secured.

  • Page 79: Hole Configuration, Base

    0,3 D E H SECTION K-K SECTION L-L R38 (2x) DETAIL P + 0,033 DETAIL X 25 H8 0,3 D E G 0,4 D E xx2400000132 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 80: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 81: Fitting Equipment On The Robot (Robot Dimensions)

    Smallest circumscribed radius around axis 4 Smallest circumscribed radius around counter weight Measurements The measurements are given in mm. Variant IRB 7720-620/2.9 1,268 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 82 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) xx2400000249 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 83 200 kg in combination with the reduced payload, use RobotStudio add-in RobotLoad or contact ABB. C L Axis 3 C L Axis 4 xx2400000248 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 84 C L Axis 3 2x M8 16 C L Axis 5 C L Axis 2 M12 24 R140 SECTION A-A SECTION D-D xx2400000271 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 85 Through 118.5 xx2400000273 Frame 2x 231 2x 49 C L Axis 1 2x 28 4x 12 4x 28 SECTION H-H xx2400000273 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 86: Tool Flange Dimensions

    1 X 45° 12x M16 R100 0.4 A B 8 min 125 H7 0.02 A xx2400000277 IRB 7720-400/3.3 LID IRB 7720-400/3.5 LID Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 87 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 88: Installing The Motor Cooling Fan (Option 3320-1, 3321-1, 3346-1)

    The robot can only have two cooling fans installed at the same time. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 89 Loosen the two tightening screws so they do not damage the motor surface during installation. xx2400000552 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 90 Fit the fan unit sheets around the motor and fasten Axis-1 motor: them to each other by tightening the six screws. xx2400000553 Axis-2 motor: xx2400000554 Axis-3 motor: xx2400000555 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 91 3HAC074336-005 (ABB Orange, threaded connection) xx2100000596 Run the fan cabling through the threaded connec- tion in the cover and connect the connectors. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 92 Tightening torque: 6 Nm. xx2100000596 Adjustments in RobotWare Action Note Modify the settings in RobotWare to include the See the operating manual for the cooling fans. controller. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 93: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 94: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 95: Installing Movable Mechanical Stops On Axis 1 (Option 3323-1)

    +24° to +126° in one direction, and -18° to -126° in the other direction Illustration, reduced working range xx2400001307 Axis 1 position Standard working range without limitations Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 96 Mechanical stop pin axis-1 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 97 Use the additional mechanical stop as a Location of the mechanical stops on template and drill fastening holes with dimen- page sion M12 at the base. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 98 - 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 99: Extended Working Range, Axis 1 (Option)

    Bound is 3.84 respectively -3.84. The val- changed to the values corresponding to ues are in radians, that is 3.84 radians = the actual installation. 220 degrees. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 100 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 101: Electrical Connections

    Robot cable, signals Transfers resolver data from R1.SMB and power supply to the serial measurement board. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 102 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 103 Customer cables - Ethernet floor cable Ethernet floor cable length Article number Ethernet cable: 7 m 3HAC079476-001 Ethernet cable: 15 m 3HAC079476-002 Ethernet cable: 30 m 3HAC079476-004 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 104 This page is intentionally left blank...

  • Page 105: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 106: Maintenance Schedule And Expected Component Life

    4.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 7720: • Calendar time: specified in months regardless of whether the system is running or not.

  • Page 107: Maintenance Schedule

    Inspecting the cable Inspecting the robot harness harness on page 118 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 108 The battery is to be replaced at given maintenance interval or at battery low alert. iv Always lubricate the bearings after refitting the balancing device. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 109: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 110: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 111 Replacing of motors is described in the repair chapter Motors on page 402. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 112: Inspecting The Balancing Device

    The figure shows the inspection points, further described in the instructions. xx2300001638 Upper ear Guide ring Piston rod Lower ear Required tools Visual inspection, no tools are required. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 113 Check for damage on the part of the pis- If damage is detected, perform mainten- ton rod that is visible. ance according to given instructions in Maintenance kit, complete. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 114 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 115 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 116 Inspect the indicated areas for ex- cess grease. Wipe away affected areas with a dry cloth. xx2400000245 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 117 4.3.2 Inspecting the balancing device Continued Action Note Keep the areas around the balancing device clean and free from objects that could prevent the balancing device from moving freely. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 118: Inspecting The Cable Harness

    Location of cable harness The cable harness is located as shown in the figure. xx2300001882 Required tools Visual inspection, no tools are needed. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 119 Check the motor cables visually for any damage. Check the connectors and cables at the base visually for any damage. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 120 Sharp debris might occur. Always wear protective gloves. xx2400000138 Replace the cable harness if wear, cracks Removing the cable harness on or damage is detected. page 337. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 121: Inspecting The Dampers

    Damper / mechanical stop axis 5: 3HAC085025-001 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 122 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 123: Inspecting The Information Labels

    Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. The figures show the location of the information labels to be inspected. The symbols...
  • Page 124 Lifting of robot 3HAC065665-001 (3HAC3981-1) Warning label Stored energy 3HAC4591-1 Instruction label Before disassembly, see product manual 3HAC14257-1 ABB information sign Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 125: Inspecting, Labels

    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 123. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 126: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 127 Loctite 243) Note Do not overtighten the attachment screw, use specified tightening torque. xx2400000142 Make sure the mechanical stop pin can move in both directions. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 128: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 129 Open the oil plug. xx2300001686 Check the oil level. Required oil level is: 0-10 mm below the oil plug hole. xx2300001687 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 130 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 131: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 132 Further information about how to drain or fill with oil is found in section Chan- ging the oil in axis-2 gearbox on page 156. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 133 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 134: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 135 Further information about how to drain or fill with oil is found in section Chan- ging the oil in axis-2 gearbox on page 156. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 136 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 137: Inspecting The Oil Level In Axis-4 Primary 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 138 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2300001697 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 139 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 140: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 141 Open the oil plug. xx2300001692 Check the oil level. Required oil level is: 0-10 mm below oil plug hole Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 142 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 143: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 144 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the oil plug. xx2300001693 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 145 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 146: 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 a position where the upper arm is horizontal. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 147 Further information about how to drain or fill with oil is found in section Changing the oil in axis-6 gearbox on page 179. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 148 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 149: Replacement/Changing Activities

    Location of gearboxes The figure shows the location of the gearboxes. xx2400000259 Axis-1 gearbox Axis-2 gearbox Axis-3 gearbox Axis-4 primary gear Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 150 Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Dimensions: • Axis-1, axis-2 and axis-3 gearboxes: Series 365, DN10 • Axis-4 gearbox: Series 265, DN6.3 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 151: Changing The Oil In Axis-1 Gearbox

    666. Required consumables and wear parts Wear part Article number Note Lubricating oil Type of lubrication in gearboxes on page 149. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 152 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300001600 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 153 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 154 Wait until the oil stops sinking, before measuring the oil level. xx2300001687 Remove the oil dispenser and refit the protective cap to the nipple. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 155 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 156: Changing The Oil In Axis-2 Gearbox

    666. Required consumables and wear parts Wear part Article number Note Lubricating oil Type of lubrication in gearboxes on page 149. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 157 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300001688 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 158 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 159 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 160 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 161: Changing The Oil In Axis-3 Gearbox

    666. Required consumables and wear parts Wear part Article number Note Lubricating oil Type of lubrication in gearboxes on page 149. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 162 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300001690 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 163 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 164 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 165 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 166: Changing The Oil In Axis-4 Primary Gear

    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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 167 Remove the protective cap from the nipple of the oil hole and connect the oil dis- penser. xx2300001698 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 168 Let the venting hole stay open during draining and filling using the dispenser, to avoid damaging vital parts in the gearbox. xx2300001697 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 169 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 170: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 171 Remove the oil plug from the fill/level hole. Note The oil plug hole is opened to speed up the drainage. xx2300001692 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 172 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Open the fill/level plug. xx2300001692 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 173 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 174: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 175 The oil plug hole is opened to speed up the drainage. xx2300001693 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 176 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 177 Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2300001693 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 178 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 179: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 180 The oil plug hole is opened to speed up the drainage. xx2300001694 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 181 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 182 61-66 mm below oil plug hole Refit the oil plug with a new o-ring. O-ring, G 1/4": 3HAC061327-060 Tightening torque: 20 Nm. xx2300001694 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 183 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 184: Replacing The Smb Battery

    Required consumables and wear parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Wear part Article number...
  • Page 185 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 186 634. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 187: Lubrication Activities

    Cleaning agent Isopropanol Bearing grease 3HAC9408-1 Tribol GR 100-2 PD, 85 ml / bearing Grease 3HAC042536-001 Shell Gadus S2 or equivalent Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 188 Inspect the bearings after a few days run- ning. Some of the refilled grease may have emerged from the bearing. Wipe clean from residual grease. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 189 Too little grease may result in premature wear of the guide ring. Too much grease may result in an undesir- able appearance or a risk of contaminating the sur- rounding environment. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 190: Cleaning Activities

    4.6.1 Cleaning the IRB 7720 General To secure high uptime it is important that the IRB 7720 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the IRB 7720.
  • Page 191 Cleaning agent to be tested on a small surface prior usage on complete manipulator. Cleaning with water 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 192 4 Maintenance 4.6.1 Cleaning the IRB 7720 Continued Position Example of position Rotational sealings xx2300001055 Gaskets xx2300001056 Connectors xx2300001057 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 193 Cooling fans Inspect the air supply inlet of the the motor cooling fans. Clean to remove any contamination that could hinder the air supply. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 194 This page is intentionally left blank...

  • Page 195: 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 7720, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.

  • Page 196: Definition Of Spare Part Levels

    5.2 Definition of spare part levels 5.2 Definition of spare part levels Spare part level ABB spare parts are categorized into two levels, L1 and L2. Always check the part level before conducting a service work on a spare part. •...

  • Page 197: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 198: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 199 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 200: Mounting Instructions For Sealings

    A radial sealing consists of a flexible rubber lip bonded to a rigid metal case. Only one side of the sealing is static with a metal insert. xx2300000433 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 201 A Main lip B Grease C Dust lip Note Ensure that no grease is ap- plied to the red marked surface. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 202 Do not try to grind or polish the surfaces to get rid of the defect. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 203 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 204: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 205: Counter Balancing Weight

    The counter balancing weight is located as shown in the figure. xx2300001550 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 206 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 207 Attach the lifting chains and a roundsling Lifting accessory (chain): 3HAC15556-1 to the lifting eyes. Lifting instruction 3HAC15880-2 enclosed. Roundsling, 2 m: - Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 208 Remove the plastic plugs that cover the screw holes. Note Keep the plastic plugs for refitting. xx2300001546 Remove the counterweight attachment screws and washers. xx2300001547 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 209 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 210 Lifting accessory (chain): 3HAC15556-1 Lifting instruction 3HAC15880-2 enclosed. Roundsling, 2 m: - Lift the counter balancing weight into install- ation position. xx2300001548 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 211 (Tightening torque on page 663) xx2300001547 Refit the plastic plugs in the screw holes. Protection plug: 3HAC4836-6 (4 pcs) xx2300001546 Remove the lifting accessories. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 212 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 213: Lower Arm

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B ©...
  • Page 214 Required documents Document Document number Note User instructions, press tool for 3HAC093483-003 Enclosed with the tool. parallel rod shaft and bearing Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 215 The weight of the complete upper arm (in- cluding the wrist) is 465-580 kg, depending on robot variant All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 216 Lifting eye: 3HAC16131-1 (M12) Fender washer: Outer diameter: minimum 26 mm, maximum 30 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 217 Action Note Remove the motor cover of the axis-2 motor by removing the screws. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 218 The upper arm including the wrist weighs approx- imately 465-580 kg, depending on robot variant. All lifting accessories must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 219 30 seconds. Use the specified brake release tool to eliminate the risk. Remove the brake release tool from the axis-2 motor. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 220 Screw, M10 x minimum 80 mm Note Keep the plastic plugs. They must be refit- ted after the work is done. xx2300001897 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 221 Move the parallel rod down and let it rest on the piece of wood, which was put there earlier. xx1500001965 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 222 (or similar). xx1500002698 Stretch the roundsling to start taking the weight of the parallel rod. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 223 User instructions, press tool for parallel rod shaft and bearing: 3HAC093483-003 WARNING xx0900000813 Handling the tool incorrectly may cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 224 Strap tion ring and cover washer with a strap (or similar) to prevent them from dropping out of its position. xx1500002744 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 225 Refitting the parallel rod Use these procedures to refit the parallel rod. Note Start refitting the parallel rod in the lower end. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 226 Apply corrosion protection on both sides Mercasol of the bearings, and on all machined sur- faces on the parallel rod. xx1500002100 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 227 Attach a roundsling to the parallel rod and Roundsling, 1 m: Length: 1 m. to an overhead crane (or similar). Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 228 Turn the conical side of the thrust washer faced inwards. xx2400001574 A Thrust washer B Protection ring C Cover washer xx2400001584 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 229 Preparations before refitting upper end of the parallel rod Action Note Remove the strap, which was used to keep bearing, thrust washer and cover washer in position. xx1500002097 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 230 Apply some grease on the shafts and in both upper arm mounting holes. xx1500002293 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 231 Take a firm grip of the parallel rod and lift it up into mounting position. xx1500001965 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 232 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 233 Handling the tool incorrectly may cause serious injury. Read and follow enclosed user instructions for the tool. Concluding procedure Action Note Refit the protection plugs. xx2300001898 xx2300001917 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 234 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 235: Replacing The Lower Arm / Parallel Arm

    5.5.2 Replacing the lower arm / parallel arm L3 spare part The lower and parallel arm and are classified as L3 spare parts. The repair procedure is not described in the product manual. Contact ABB Service for replacement. Spare part level on page 196.

  • Page 236: Balancing Device

    1 Unload the balancing device. 2 Remove the balancing device. 3 If needed, replace the balancing device bearings. 4 Refit the balancing device. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 237 5.6.1 Replacing the balancing device and balancing device bearings Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 238 Use this procedure to unload and lock the balancing device in unloaded position. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 239 Remove the plastic plugs in the upper end of the balancing device. Note Save the protection screws, to refit after the work is done. xx2300001643 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 240 Attaching lifting accessory to the balancing device Action Note CAUTION The weight of the balancing device is 101 All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 241 Removing the balancing device Action Note Remove the upper and lower covers. xx2300001647 xx2300001648 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 242 CAUTION The weight of the balancing device is 101 All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 243 If the bearings are to be replaced, use this procedure to remove and refit them. Action Note Remove the radial sealing with a crow bar. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 244: Refitting The Balancing Device

    Attaching lifting accessory to the balancing device Action Note CAUTION The weight of the balancing device is 101 All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 245 Use this procedure to unload and lock the balancing device in unloaded position. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 246 Remove the plastic plugs in the upper end of the balancing device. Note Save the protection screws, to refit after the work is done. xx2300001643 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 247 The length of the cylinder is now locked and the balancing device is unloaded. Check that the device is unloaded by trying to rotate it. It should rotate with ease. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 248 Check that the support ring is in place on the upper shaft. xx2400000237 Check that the support ring and spacer ring are in place on the lower shaft. xx2400000238 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 249 Replace if damaged. Note Make sure the bearings are axially centered in the balancing device ears, before putting them on the shafts. xx2400000239 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 250 / 3HAC091950-001 xx2300001887 xx2300001888 CAUTION The weight of the balancing device is 101 All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 251 Refit the lock nut to the upper ear. Lock nut socket: 3HAC092177-001 Tightening torque: 24 Nm. xx2300001649 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 252 Refit the washer to the lower ear with the Tightening torque: 10 Nm. two screws. xx2300001650 Check the o-rings in the covers. O-ring: 3HAB3772-15 Replace if damaged. xx2400000240 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 253 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 254 Restore the pressure of the balancing device by unscrewing the two screws altern- ately little by little. Remove the screws. xx2300001855 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 255 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 256: Replacing The Balancing Device Guide Ring

    The guide ring is located as shown in the figure. xx2400001569 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 257 Removing the guide ring Action Note Remove the circlip from the end cover. xx2400001570 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 258 Install the circlip. Circlip SB 120: 3HAC036620-001 xx2400001573 Lubricating the piston rod Action Note Clean the piston rod. Cleaning agent: Isopropanol Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 259 Too little grease may result in premature wear of the guide ring. Too much grease may result in an undesir- able appearance or a risk of contaminating the sur- rounding environment. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 260: Upper Arm Excluding Wrist

    5.7.1 Replacing the upper arm / upper arm shafts and bearings L3 spare part The upper arm and the upper arm shafts and bearings are classified as L3 spare parts. The repair procedure is not described in the product manual. Contact ABB Service for replacement. Spare part level on page 196.

  • Page 261: Replacing The Arm House Cover Including The Axis-4 Cassette Sealing

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B ©...
  • Page 262 Screw, M6 x minimum 70 mm Used to support the arm house cover Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 263 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 264 Disconnecting the axis-5 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 265 Note Cut the cable tie. xx2300001923 Remove the motor cover by removing the screws. xx2300001924 Disconnect the signal cable connector. xx2200001734 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 266 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 267 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 268 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 269 Foundry Plus, DressPack: Protection type Foundry Plus: Remove the back cover. Note Use caution not to damage the gasket. xx2000000422 DressPack xx2300001040 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 270 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 271 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2300002013 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 272 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 273 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 274 Decommissioning on page 651 for more information. Fit the M12 bolt and rotate it to press out the complete cover. xx2100001256 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 275 Tighten the screws so that the cross bottoms firmly against the tube shaft, but make sure not xx2100001264 to damage the cassette sealing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 276 Locking liquid: - (Loctite 2400 (or Ensure gap closure between cover and arm equivalent Loctite 243)) house. Tightening torque: 10 Nm xx2100001255 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 277 Fit the cable guide with attachment screws. Torx pan head screw: M6x16 A4- Use locking liquid. Locking liquid: - (Loctite 2400 (or equivalent Loctite 243)) xx2100001242 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 278 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 279 Do not run the cable harness into the DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx2300000040 xx1300000820 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 280 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 281 (Cable guard (C) is available for Foundry cable guard.) xx2100002677 With DressPack: Refit the DressPack tube into the insert. xx1400000092 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 282 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 283 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 284 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 285 Inspect the gasket. Connection box cover with gasket: Replace if damaged. 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2200002141 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 286 Connecting the axis-6 motor cables Action Note Connect the motor cables. Connect in accordance with the markings on the connectors. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 287 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 288 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 289 Make sure that the cable harness is routed and secured as shown in the figure. xx2300001927 Foundry Plus: Gasket: 3HAC085052-001 Inspect the gasket. Replace if damaged. xx2100001407 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 290 172. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 291: Replacing The Axis-4 Motor Flange

    3 Replace the motor flange. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 292 If no previous reference values exist, and routine on page 636. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 293 Disconnecting the 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 294 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 295 Removing the axis-4 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 296 Fit a guide pin in the non-threaded hole. Removal tool motor M12: 3HAC14631-1 Fit a removal tool in the threaded hole. Guide pin, M10x150: 3HAC15521- xx2400000300 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 297 All lifting accessories used must be sized accord- ingly. Remove the motor by lifting it straight out. Make sure the pinion is not damaged. xx2400000301 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 298 Remove two attachment screws in opposite holes. xx2400000672 Fit guide pins in the holes. , Robot.Motors.Axis4.MotorFlange.Guide- Pin.ArticleNumber Guide pin, M10x150 (IRB 7720-620/2.9, IRB 7720-530/3.1, IRB 7720-560/2.9 LID, IRB 7720-480/3.1 LID) Guide pin, M8x150 (IRB 7720-510/3.3, IRB 7720-450/3.5, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID)
  • Page 299 Use these procedures to refit the motor flange. Refitting the motor flange Action Note Clean the contact surfaces on gearbox and motor flange. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 300 3HAC061327-078 Check the motor flange o-ring. O-ring: 3HAB3772-160 Replace if damaged. xx2300001867 Lift the motor flange onto the guide pins. xx2400000675 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 301 IRB 7720-400/3.5 LID: standard torque 35 Nm (Tightening torque on page 663) Perform a leak-down test. Performing a leak-down test on page 197. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 302 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 303 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 304 Remove the guide pins and replace with Hex socket head cap screw: M10x30 12.9 the remaining attachment screws. Gleitmo 603+Geomet 500 (2 pcs) xx2400000304 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 305 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 306 3HAC074336-005 (ABB Orange, threaded connection) Axis-4: Connection box cover FS130 with gasket: 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2100000600 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 307 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 308: Wrist

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B ©...
  • Page 309 Gasket 3HAC033489-001 For axis-6 connection box cover. Replace if damaged. IRB 7720-620/2.9, IRB 7720- 530/3.1, IRB 7720-560/2.9 LID, IRB 7720-480/3.1 LID: Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 310 Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Remove tools and other equipment fitted to the wrist. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 311: Replacing The Wrist

    Axis 3: jog axis 2 and 3 to a position where the upper arm is horizontal • Axis 4: +90° • Axis 5: +90° • Axis 6: no significance xx2300001931 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 312 If DressPack is installed: Open the ball joint housing on the arm tube and remove the DressPack cable package. xx2100002709 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 313 Unscrew the attachment screws and re- move the motor cover. xx2200001434 Remove the connector bracket. xx2200001730 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 314 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 315 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Cut the cable tie. xx2300001923 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 316 Remove the motor cover by removing the screws. xx2300001924 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 317 The weight of the wrist is 170 kg (IRB 7720-510/3.3, IRB 7720- 450/3.5) 225 kg (IRB 7720-620/2.9, IRB 7720- 530/3.1) 188 kg (IRB 7720-400/3.3 LID, IRB 7720- 400/3.5 LID) 242 kg (IRB 7720-560/2.9 LID, IRB 7720- 480/3.1 LID) All lifting accessories used must be sized accordingly.
  • Page 318 Bit holder dimension: 5/16" (14x18 mm) CAUTION Make sure that the cabling does not get damaged. xx2300001934 Lift away the wrist. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 319 Do not attach the roundsling around the axis-5 gearbox! xx2300000019 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 320 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 321 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 322 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 323 Inspect the gasket. Connection box cover with gasket: Replace if damaged. 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2200002141 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 324 Connecting the axis-6 motor cables Action Note Connect the motor cables. Connect in accordance with the markings on the connectors. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 325 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 326 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 327 Make sure that the cable harness is routed and secured as shown in the figure. xx2300001927 Foundry Plus: Gasket: 3HAC085052-001 Inspect the gasket. Replace if damaged. xx2100001407 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 328: Concluding Procedure

    627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 329: Replacing The Turning Disc

    Location of the turning disc The turning disc is located as shown in the figure. IRB 7720-620/2.9, IRB 7720-530/3.1, IRB 7720-510/3.3, IRB 7720-450/3.5: xx2400000165 IRB 7720-560/2.9 LID, IRB 7720-480/3.1 LID, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID: xx2400000166 Required spare parts Note The spare part numbers that are listed in the table can be out of date.
  • Page 330 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 331 • air pressure supply to the robot, before entering the safeguarded space. Remove any equipment fitted to the turning disc. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 332 IRB 7720-620/2.9 cure the turning disc. IRB 7720-530/3.1: xx2400000168 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000167 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID: xx2400000173 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 333 IRB 7720-620/2.9 IRB 7720-530/3.1 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000174 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID IRB 7720-400/3.3 LID IRB 7720-400/3.5 LID: xx2400000176 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 334 IRB 7720-530/3.1 marks. IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000174 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID IRB 7720-400/3.3 LID IRB 7720-400/3.5 LID: xx2400000176 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 335 664).. IRB 7720-620/2.9 IRB 7720-530/3.1: xx2400000168 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000167 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID: xx2400000173 IRB 7720-400/3.3 LID Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 336 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 337: Electronic Parts

    The cable harness is located as shown in the figure. xx2300001882 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 338 Protection type Foundry Plus Remove the axis-1 cable protection. xx2300001954 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 339 Depending on what tool is used, the other axes may need to be jogged to another position. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 340 DressPack cable package can stay fitted on the process turning disk. xx1400000208 Protection type Foundry Plus Remove the axis-1 cable protection. xx2300001954 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 341 Open the ball joint housing on the arm tube and remove the DressPack cable package. xx2100002709 Remove the wrist cover. xx2300001883 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 342 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 343 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 344 Cut the cable tie. xx2300001923 Remove the motor cover by removing the screws. xx2300001924 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 345 Disconnecting the axis-4 motor cable 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 346 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 347 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 348 Use caution not to damage the gasket. xx2000000422 DressPack xx2300001040 DressPack Loosen the insert. (Cable guard (C) is available for protection type Foundry Plus.) xx2100002677 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 349 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 350 Note The screw is reached from outside the up- per arm. xx2300000033 xx2300000032 Remove the arm house metal clamp. xx2300002013 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 351 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 352 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 If used, disconnect the DressPack hoses in the base. xx2300001093 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 353 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 354 Disconnect the signal cable connector by pulling it out. xx2200001737 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 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 Remove the electronic box screws. xx2200001721 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 356 Removing the cable harness from the frame Action Note Cut the cable ties at the frame. xx2300002016 xx2400000191 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 357 Removing the cable harness from the base Action Note If equipped with DressPack, pull out the DressPack cables through the protection tube. xx2400000192 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 358 Place the cable harness safely on the floor. Removing the cable harness from the lower arm Action Note Remove the cable bracket from the arm house. xx2300001953 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 359 Person 2: From the back of the ro- bot, push the cable harness down through the lower arm. • Together: Move the cable harness out of the lower arm. xx2300002040 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 360: Refitting The Cable Harness

    The cable harness is located as shown in the figure. xx2300001882 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 361 Replace if damaged. gasket (Graphite White) On axis-2 motor 3HAC072864-005 (ABB Orange) 3HAC074336-004 (Graphite White, threaded connection) 3HAC074336-005 (ABB Orange, threaded connection) Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 362 (ABB Orange) Cable strap, outdoor Metal strap 3HAC033886-001 Locking liquid Loctite 2400 (or equivalent Loctite 243) Sealing compound 3HAC026759-002 Sikaflex 521 FC Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 363 Person 2: From the back of the ro- bot, pull the cable harness up through the lower arm and out xx2400000193 through the arm house. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 364 Refit the cable bracket assembly to the arm Torx pan head screw: M6x16 A4-80 house. Tightening torque: 10 Nm. xx2300001953 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 365 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 366 If used, run the DressPack hoses through the protection tube in the base. Make sure that the hoses are running cor- rectly and are not twisted! xx2400000196 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 367 Refit and secure the cable inlet with the screws inside the SMB recess xx2200001725 Seal the cable inlet with sealing compound. Sealing compound: 3HAC026759-002 () Sikaflex 521 FC Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 368 ESD on page Refit the electronic box with the attachment screws. Torx pan head screw: M6x60 (4 pcs) Tightening torque: 10 Nm. xx2200001721 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 369 Collect and secure the cabling to the cable Torx pan head screw: M6x16 A4-80 brackets with cable straps. Tightening torque: 10 Nm. xx2300001950 xx2400000197 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 370 Reconnecting the axis-1, axis-2 and axis-3 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 371 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 372 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 373 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 374 Do not run the cable harness into the DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx2300000040 xx1300000820 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 375 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 376 (Cable guard (C) is available for Foundry cable guard.) xx2100002677 With DressPack: Refit the DressPack tube into the insert. xx1400000092 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 377 Locking liquid: Loctite 2400 (or equivalent Loctite 243) xx2300001040 Reconnecting the axis-4 motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 378 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 379 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 380 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 381 Inspect the gasket. Connection box cover with gasket: Replace if damaged. 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2200002141 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 382 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 383 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 384 Snap the signal connectors to each other in the bracket. xx2200001921 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 385 7720-560/2.9 LID, IRB 7720-480/3.1 LID: 3HAC033489-001 IRB 7720-510/3.3, IRB 7720-450/3.5, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID: 3HAC079381-003 (Graphite White) 3HAC079381-004 (ABB Orange) xx2200001922 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 386 Make sure that the cable harness is routed and secured as shown in the figure. xx2300001927 Foundry Plus: Gasket: 3HAC085052-001 Inspect the gasket. Replace if damaged. xx2100001407 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 387 If used, refit the DressPack cable package on the See product manual for the wrist. DressPack. Turn on the power to the robot. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 388 634. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 389: Replacing The Brake Release Unit

    The brake release unit is located as shown in the figure. xx2300001541 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 390 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 391 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 392 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 393 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 394 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 395 634. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 396: Replacing The Smb Unit

    The SMB unit is located as shown in the figure. xx2300001541 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 397 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 398 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 399 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 400 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 401 634. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 402: Motors

    The motor is located as shown in the figure. xx2300001591 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 403 Required if Axis Calibration is the valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 666. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 404 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 405 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 406 Disconnect the signal cable connector by pulling it out. xx2200001737 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 407 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2300001721 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 408 Removal tool motor M12: 3HAC14631-1 Always use removal tools in pairs. xx2300001723 Apply the lifting accessory. Lifting accessory, motor: 3HAC076550-001 xx2400000491 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 409 Press the motor out of its position by using the removal tools. Use caution and lift the motor straight up to get the pinion parted from the gear. xx2400000492 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 410: Refitting The Motor

    The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 411 All lifting accessories used must be sized accord- ingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC076550-001 xx2400000493 Fit the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 412 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. xx2400000492 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 413 Tightening torque: 24 Nm. xx2300001686 Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 414 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 415 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 416 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 417: Replacing The Axis-2 Or Axis-3 Motor

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B ©...
  • Page 418 Lifting accessory (chain) 3HAC15556-1 Lifting instruction 3HAC15880-2 enclosed. Rotation tool M4 3HAB7887-1 Used to rotate the motor pinion. Add screw M4. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 419 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 420 Release the brakes on axis-2 using the brake release button, and let the axis rest on the lock screw. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 421 Disconnecting the 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 422 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 423 Remove the motor cables from the motor. Removing the axis-2 or axis-3 motor Action Note Before removing the motor, make sure that the gearbox is completely drained. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 424 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 425 Lubricate the guide pins with some grease to make the motor slide better. xx2000000456 Remove the remaining two screws. Bits extender: 3HAC12342-1 xx2200001150 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 426 Disconnect the brake release tool. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 427 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 428 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 429 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 xx2400000264 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 430 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. xx2400000263 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 431 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 432 Performing a leak-down test on page 197. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 433 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 434 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 435 / movable arm structure. Remove the lock screw. xx2300001881 xx2400000236 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 436 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 437: Replacing The Axis-4 Motor

    The motor is located as shown in the figure. xx2300001593 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 438 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 439 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 440 Disconnect the signal cable connector by pulling it out. xx2200001737 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 441 Before removing the motor, make sure that the gearbox is completely drained. Remove two of the motor attachment screws. xx2400000298 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 442 Fit a guide pin in the non-threaded hole. Removal tool motor M12: 3HAC14631-1 Fit a removal tool in the threaded hole. Guide pin, M10x150: 3HAC15521- xx2400000300 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 443 All lifting accessories used must be sized accord- ingly. Remove the motor by lifting it straight out. Make sure the pinion is not damaged. xx2400000301 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 444: Refitting The Motor

    The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 445 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 446 Remove the guide pins and replace with Hex socket head cap screw: M10x30 12.9 the remaining attachment screws. Gleitmo 603+Geomet 500 (2 pcs) xx2400000304 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 447 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 448 3HAC074336-005 (ABB Orange, threaded connection) Axis-4: Connection box cover FS130 with gasket: 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2100000600 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 449 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 450: Replacing The Axis-5 Motor

    The motor is located as shown in the figure. xx2300001594 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 451 Preparations before removing the axis-5 motor Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 452 Note No need to remove the bracket if the two wrist cover screws are accessible. xx2300001366 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 453 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Cut the cable tie. xx2300001923 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 454 Remove the motor cover by removing the screws. xx2300001924 Disconnect the signal cable connector. xx2200001734 Disconnect the power cable connector by removing the attachment screw. xx2200001733 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 455 Bits extender: 3HAC12342-1 motor, using a bits extender. xx2300001926 Fit removal tools in the threaded holes. Removal tool motor M12 3HAC14631-1 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 456 Always use removal tools in pairs. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 457 Remove the cover, if fitted to the new spare part motor. xx2100000596 Refitting the axis-5 motor Action Note Apply two guide pins in opposite holes. Guide pin, M10x150 3HAC15521-2 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 458 • the direction of the cable exit is fa- cing the same way as before remov- xx2300000204 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 459 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 460 Inspect the gasket. Connection box cover with gasket: Replace if damaged. 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2200002141 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 461 Refitting the wrist cover Action Note Make sure that the cable harness is routed and secured as shown in the figure. xx2300001927 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 462 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 463: Replacing The Axis-6 Motor

    The motor is located as shown in the figure. xx2300001595 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 464 Preparations before removing the axis-6 motor Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 465 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Unscrew the attachment screws and re- move the motor cover. xx2200001434 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 466 Fit guide pins in the non-threaded holes. Guide pin, M8x150 Fit removal tools in the threaded holes. Removal tool motor M10: 3HAC14972-1 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 467 IRB 7720-620/2.9, IRB 7720-530/3.1, IRB 7720-560/2.9 LID, IRB 7720-480/3.1 LID 12 kg IRB 7720-510/3.3, IRB 7720-450/3.5, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID 7.5 kg Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 468 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 469 Apply two guide pins in opposite holes. Guide pin, M8x150 DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 470 • the motor pinion does not get dam- aged. xx2200001805 Remove the guide pins. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 471 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 472 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 473: Concluding Procedure

    If used, refit the DressPack cable package See product manual for the DressPack. on the wrist. Re-calibrate the robot. Calibration on page 627. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 474 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 475: Gearboxes

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B ©...
  • Page 476 Swivel eye bolt M20 Roundsling and adjustable lifting Complete length 1.86 m chain Roundsling and adjustable lifting Complete length 1.78 m chain Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 477 Use a roundsling (for example 1 m) to avoid scratches on the manipulator combined with lifting chains, to get the exact length of the lifting accessory for a balanced lift of the manipulator. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 478 Removing the covers for Foundry Plus and floor mounted robots Action Note Protection type Foundry Plus Remove the axis-1 cable protection. xx2300001954 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 479 Note Always use a flat head Allen key, to not damage the screw head. xx2300001711 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 480 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 481 Use a roundsling (for example 1 m) to avoid scratches on the manipulator combined with lifting chains, to get the exact length of the lifting accessory for a balanced lift of the manipulator. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 482 Fitting support legs under the floor mounted robot Action Note CAUTION The weight of the IRB 7720 robot is 2,590 - 2,690 kg (depending on robot variant) All lifting accessories used must be sized accordingly. Continues on next page...
  • Page 483 Lower the robot to the support legs and se- Use the screws enclosed with the pillars. cure. xx2100001113 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 484 Disconnecting the axis-1 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 485 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 486 Removing the axis-1 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 487 Removal tool motor M12: 3HAC14631-1 Always use removal tools in pairs. xx2300001723 Apply the lifting accessory. Lifting accessory, motor: 3HAC076550-001 xx2400000491 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 488 Press the motor out of its position by using the removal tools. Use caution and lift the motor straight up to get the pinion parted from the gear. xx2400000492 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 489 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 490 If equipped with DressPack, pull out the DressPack cables through the protection tube. xx2400000192 Pull out the robot cable harness through the protection tube. xx2300001944 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 491 The measurement is used as a verification after the arm system has been refitted. xx2200001611 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 492 Remove the two protection plugs or screws located on opposite sides of each other in the frame. xx2300001770 xx2300001771 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 493 CAUTION The weight of the complete arm system is 2,352 kg All lifting accessories must be sized accord- ingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 494 Removing the axis-1 gearbox Action Note Remove the bottom plate by removing the two small screws and pulling the plate out. xx2000000411 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 495 The weight of the gearbox is 142 kg All lifting accessories used must be sized accordingly. Attach the lifting accessory. Lifting accessory (chain): 3HAC15556-1 xx2100002818 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 496 Used oil is hazardous material and must be disposed of in a safe way. See Decommission- ing on page 651 for more information. xx2400000335 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 497 Use M12 washers beneath the lifting eyes, if the lifting eyes need to be elevated somewhat not to damage the o-ring on the gearbox. xx2300001773 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 498 Attach the lifting accessory and lift the gear- Lifting accessory (chain): 3HAC15556-1 box. xx2400000333 Wipe clean the o-ring groove for the small o- ring beneath the gearbox. xx2300001796 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 499 Apply rust preventive to the gearbox surface Rust preventive: 3HAC034903-001 (Mer- shown in the figures. casol 3110 Waxcoat. Recommended dry- ing time is 24h.) xx2300001756 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 500 Refitting the axis-1 gearbox to the base Action Note Verify that the locating pin in the gearbox will match the hole in the base. xx2400000336 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 501 603+Geomet 500 (24 pcs). xx2400000338 Remove the guide pins and fit the two remain- ing screws. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 502 3HAC13056-2 / 3HAC13056-3 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the frame slide better. xx2300001775 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 503 Lift the arm system to mounting position, and verify that the hole pattern match and that the guide pins will enter the correct holes in the frame. xx2300001775 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 504 If required, manually rotate axis-1 to a posi- tion where the remaining attachment screw at the axis-1 synchronization plate can be secured. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 505 Refit the back plate and secure with two Tightening torque: 10 Nm screws. Torx pan head screw: M6x16 Stainless steel A2-70 (2 pcs) xx2000000411 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 506 Stainless steel A2-70 (2 pcs). Tightening torque: 10 Nm. xx2100001112 Locking liquid: Loctite 2400 (or equivalent Loctite 243) Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 507 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 508 All lifting accessories used must be sized accord- ingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC076550-001 xx2400000493 Fit the rotation tool. Rotation tool M4: 3HAB7887-1 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 509 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. xx2400000492 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 510 151. Refit the oil plug with a new o-ring. O-ring, G 1/2": 3HAC061327-059 Tightening torque: 24 Nm. xx2300001686 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 511 Connect connectors R1.MP and R1.SMB. Screw dimension for R1.MP: M6x25 A2-70 Tightening torque for R1.MP: 10 Nm. Tightening torque for R1.SMB: 10 Nm. xx2100001109 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 512 Make sure that the hoses are running cor- rectly and are not twisted! If used, connect the DressPack cable package on the base plate. xx2300001093 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 513 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 514 3HAC074336-005 (ABB Orange, threaded connection) Axis-4: Connection box cover FS130 with gasket: 3HAC072863-003 (Graphite White) 3HAC072863-005 (ABB Orange) xx2100000600 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 515 Securing the floor mounted robot to the foundation Action Note CAUTION The weight of the IRB 7720 robot is 2,590 - 2,690 kg (depending on robot variant) All lifting accessories used must be sized accordingly. Continues on next page...
  • Page 516 Unscrew the screws that secure the base to the support legs and lift up the robot. xx2100001113 Remove the support legs. Lower the robot to the foundation. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 517 24h.) faces shown in the figure, on stop pin and in the hole as shown in the figure. xx2300001757 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 518 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 519: Replacing The Axis-2 Gearbox

    5 Replace the axis-2 gearbox. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...

  • Page 520: Required Tools And Equipment

    666. Required service parts Consumable Article number Note O-ring 3HAC061327-067 On gearbox. Included in gearbox spare part, but replace if damaged. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 521 If no previous reference values exist, and routine on page 636. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 522 Remove any tool or other equipment fitted on the turning disc. Drain the axis-2 gearbox. Draining the axis-2 gearbox on page 157. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 523 The order when attaching the axis-2 gearbox to the lower arm is reversed: area 3, then area 2, and last area 1. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 524 If not, there is a potential risk that a severe accident will happen. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 525 Remove the plastic plug that covers the axis-2 lock screw hole. Note Keep the plastic plugs. They must be refit- ted after the work is done. xx1500002335 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 526 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 527 Remove the plastic plugs in the upper end of the balancing device. Note Save the protection screws, to refit after the work is done. xx2300001643 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 528 The length of the cylinder is now locked and the balancing device is unloaded. Check that the device is unloaded by trying to rotate it. It should rotate with ease. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 529 Attach two guide pins in the holes of the area 2 Guide pin, M12x150: 3HAC13056- screws. Always use guide pins in pairs. xx2300001862 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 530 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by first removing the attachment screw and then parting the connector. xx2200001736 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 531 Remove the motor cables from the motor. Removing the axis-2 motor Action Note Before removing the motor, make sure that the gearbox is completely drained. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 532 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 533 Lubricate the guide pins with some grease to make the motor slide better. xx2000000456 Remove the remaining two screws. Bits extender: 3HAC12342-1 xx2200001150 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 534 Disconnect the brake release tool. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 535 The motor shall be refitted in the same position. xx2400000263 Make sure the pinion is not damaged. xx2100000595 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 536 There will be some oil spill when the motor flange is removed. Put some paper (or similar) to absorb the surplus oil. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 537 Guide pin, M12x200 / Guide pin, M12x250, holes, below the present ones. 3HAC13056-3 Fasten set collars on two of the guide pins. xx2400000343 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 538 Note Find area 3. xx2300001868 Remove the attachment screws that secure the gearbox to the lower arm in area 3. xx2300001869 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 539 CAUTION The weight of the gearbox is 98 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 540 One side must always be attached when the gearbox on the other side is removed. If not, there is a potential risk that a severe accident will happen. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 541 All lifting accessories used must be sized accordingly. Attach the lifting accessory and lift the Lifting accessory for gear: 3HAC081585- gearbox. xx2400000347 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 542 Apply some grease on the thin chamfer on Grease: 3HAC042536-001 (Shell Gadus the lower arm. xx2400000389 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 543 Guide pin, M12x150: 3HAC13056-2 (2 pcs) Always use guide pins in pairs. Lubricate the guide pins with some grease to make the gearbox/gear slide better. xx2300001871 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 544 Make sure that the sealing ring is attached cor- rectly on the gearbox. xx1500002350 Lift the gearbox onto the guide pins. xx2400000349 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 545 500 (4 pcs) Note The six-hole washers are needed for protection of the gearbox surface, when the screws are at- tached. xx2400000352 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 546 Hex socket head cap screw: in area 3. M12x80 12.9 Gleitmo 603+Geomet 500 (7 pcs) Note Do not torque the screws at this point. xx2300001873 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 547 Grease, Shell Gadus S2: 3HAC042536-001. Replace if damaged. O-ring: 3HAC061327-067 Check the motor flange o-ring. O-ring: 3HAB3772-160 Replace if damaged. xx2300001867 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 548 Tightening torque: standard torque 120 Nm (Tightening torque on page 663). Perform a leak-down test. Performing a leak-down test on page 197. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 549 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 550 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 xx2400000264 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 551 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. xx2400000263 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 552 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 553 Performing a leak-down test on page 197. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 554 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 555 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 556 Loctite 243) Tightening torque: 6 Nm. xx2100000596 Refitting the axis-2 gearbox screws in area 2 Action Note Find area 2. xx2300001860 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 557 Hex socket head cap screw: in area 2. M12x80 12.9 Gleitmo 603+Geomet 500 (7 pcs) Note Do not torque the screws at this point. xx2300001875 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 558 663). xx2300001868 Tighten the attachment screws in area 2. Tightening torque: standard torque 300 Nm (Tightening torque on page 663). xx2300001860 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 559 Begin unscrewing the axis-2 lock screw, while at the same time very slowly jogging axis-2, until it is possible to unscrew the lock screw completely. xx2400000355 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 560 • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Find area 1. xx2300001852 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 561 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 562: Replacing The Axis-3 Gearbox

    4 Replace the axis-3 gearbox. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 563 Replace if damaged. gasket (Graphite White) On axis-3 motor 3HAC072864-005 (ABB Orange) 3HAC074336-004 (Graphite White, threaded connection) 3HAC074336-005 (ABB Orange, threaded connection) Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 564 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 565 Remove the plastic plug that covers the axis-3 lock screw hole. Note Keep the plastic plugs. They must be refit- ted after the work is done. xx1500002366 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 566 Axis 2: +45° • Axis 3: 0° • Axis 4: 0° • Axis 5: 0° • Axis 6: no significance. xx2400000357 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 567 Find area 1. Note Do not remove screws in area 2 or area 3 at this point. xx2400000358 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 568 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 569 Robot position for continued procedure Put the robot in this position for the continued procedures. Action Note Jog the robot to calibration position. xx2300001691 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 570 Release the brakes on axis-2 using the brake release button, and let the axis rest on the lock screw. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 571 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Remove the motor cover by removing the screws. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 572 Disconnect the signal cable connector by pulling it out. xx2200001737 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 573 Verify that the lower arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 574 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 575 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 576 Fasten the lifting accessory. Attach the Lifting accessory, motor: 3HAC15534-1 lifting chain to the accessory and an over- Lifting accessory (chain): 3HAC15556-1 head crane. xx2400000263 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 577 Make sure the pinion is not damaged. xx2100000595 Removing the motor flange Action Note Remove two attachment screws in opposite holes. xx2300001863 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 578 There will be some oil spill when the motor flange is removed. Put some paper (or similar) to absorb the surplus oil. Remove the motor flange. xx2300001866 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 579 Guide pin, M12x200 / Guide pin, M12x250, holes, below the present ones. 3HAC13056-3 Fasten set collars on two of the guide pins. xx2400000343 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 580 Attach two guide pins in the holes of the Guide pin, M12x150: 3HAC13056-2 area 3 screws. Always use guide pins in pairs. xx2400000362 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 581 CAUTION The weight of the gearbox is 98 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 582 One side must always be attached when the gearbox on the other side is removed. If not, there is a potential risk that a severe accident will happen. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 583 All lifting accessories used must be sized accordingly. Attach the lifting accessory and lift the Lifting accessory for gear: 3HAC081585- gearbox. xx2400000347 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 584 Apply some grease on the thin chamfer on Grease: 3HAC042536-001 (Shell Gadus the parallel arm. xx2400000390 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 585 Guide pin, M12x150: 3HAC13056-2 (2 pcs) Always use guide pins in pairs. Lubricate the guide pins with some grease to make the gearbox/gear slide better. xx2400000392 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 586 Make sure that the sealing ring is attached cor- rectly on the gearbox. xx1500002350 Lift the gearbox onto the guide pins. xx2400000349 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 587 500 (4 pcs) Note The six-hole washers are needed for protection of the gearbox surface, when the screws are at- tached. xx2400000352 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 588 Hex socket head cap screw: in area 3. M12x80 12.9 Gleitmo 603+Geomet 500 (7 pcs) Note Do not torque the screws at this point. xx2400000366 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 589 Grease, Shell Gadus S2: 3HAC042536-001. Replace if damaged. O-ring: 3HAC061327-067 Check the motor flange o-ring. O-ring: 3HAB3772-160 Replace if damaged. xx2300001867 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 590 Remove the guide pins and attach the remaining screws. xx2300001863 Tighten all motor flange screws. Tightening torque: standard torque 120 Nm (Tightening torque on page 663). Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 591 The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Remove the cover, if fitted to the new spare part motor. xx2100000596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 592 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 xx2400000264 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 593 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. xx2400000263 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 594 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 595 Performing a leak-down test on page 197. Connecting the motor cables Action Note Put the motor cables in place in the open- ing. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 596 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 597 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 598 Tightening torque: standard torque 300 Nm (Tightening torque on page 663). xx2400000363 Removing the lock screw Action Note Turn on the power. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 599 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 600 Then attach the remaining screws with washers, Hex socket head cap screw: in area 2. M12x80 12.9 Gleitmo 603+Geomet 500 (7 pcs) xx2400000368 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 601 • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Find area 1. xx2400000358 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 602 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 603: Replacing The Axis-4 Gearbox And Gear

    5.11.4 Replacing the axis-4 gearbox and gear L3 spare part The axis-4 gearbox and the cylindrical gear Z3 are classified as L3 spare parts. The repair procedure is not described in the product manual. Contact ABB Service for replacement. Spare part level on page 196.

  • Page 604: Replacing The Axis-6 Gearbox

    The gearbox is located as shown in the figure. xx2300001599 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 7720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 605 3HAC074564-001 Delivered as a set of calibration tion tools. Required if Axis Calibration is the valid calibration method for the robot. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 606 Drain the gearbox. Draining the axis-6 gearbox on page 180. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 607 Axis 3 = suitable working position to replace axis-6 gearbox • Axis 4 = 0° • Axis 5 = -55° • Axis 6 = 0° Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 608 • 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 609 IRB 7720-620/2.9 cure the turning disc. IRB 7720-530/3.1: xx2400000168 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000167 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID: xx2400000173 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 610 IRB 7720-620/2.9 IRB 7720-530/3.1 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000174 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID IRB 7720-400/3.3 LID IRB 7720-400/3.5 LID: xx2400000176 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 611 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 612 5 Repair 5.11.5 Replacing the axis-6 gearbox Continued Removing the axis-6 gearbox Action Note Remove the axis-6 synchronization plate. xx2400000372 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 613 IRB 7720-530/3.1 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000371 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID IRB 7720-400/3.3 LID IRB 7720-400/3.5 LID: xx2400000370 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 614 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 615 IRB 7720-620/2.9, IRB 7720-530/3.1, IRB 7720-560/2.9 LID, IRB 7720-480/3.1 LID: 3HAB3772-148 IRB 7720-510/3.3, IRB 7720-450/3.5, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID: 3HAC061327-078 xx2100002258 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 616 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 617 Guide pin, M6x150: 3HAC080345-001 Always use guide pins in pairs. xx2400000375 Apply the rotation tool to the motor. Rotation tool M3: 3HAB7887-1 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 618 Verify that the oil plug is removed so the air can be pressed out during fitting of the xx2400000374 gearbox. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 619 197. Jog axis-5 to horizontal position. Refill oil in the gearbox. Filling oil into the axis-6 gearbox on page 181. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 620 Snap the signal connectors to each other in the bracket. xx2200001921 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 621 7720-560/2.9 LID, IRB 7720-480/3.1 LID: 3HAC033489-001 IRB 7720-510/3.3, IRB 7720-450/3.5, IRB 7720-400/3.3 LID, IRB 7720-400/3.5 LID: 3HAC079381-003 (Graphite White) 3HAC079381-004 (ABB Orange) xx2200001922 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 622 ( Mercasol 3110 Waxcoat. Recom- Apply rust preventive to the surface shown in the mended drying time is 24h.) figure. xx2100002232 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 623 IRB 7720-530/3.1 marks. IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000174 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID IRB 7720-400/3.3 LID IRB 7720-400/3.5 LID: xx2400000176 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 624 664).. IRB 7720-620/2.9 IRB 7720-530/3.1: xx2400000168 IRB 7720-510/3.3 IRB 7720-450/3.5: xx2400000167 IRB 7720-560/2.9 LID IRB 7720-480/3.1 LID: xx2400000173 IRB 7720-400/3.3 LID Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 625 627. 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 626 This page is intentionally left blank...

  • Page 627: 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 628: Calibration Methods

    Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 7720. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
  • Page 629 References Article numbers for the calibration tools are listed in the section Special tools on page 667. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 630: 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 631: Synchronization Marks And Axis Movement Directions

    6.2.1 Synchronization marks and synchronization position for axes Introduction This section shows the position of the synchronization marks and the synchronization position for each axis. Synchronization marks, IRB 7710, IRB 7720 xx2400000017 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B ©...
  • Page 632 6 Calibration 6.2.1 Synchronization marks and synchronization position for axes Continued xx2400000018 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 633: 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 xx2300001518 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 634: Updating Revolution Counters

    Check the synchronization position very carefully after each update. See Checking the synchronization position on page 649. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 635: 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 636 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 637 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 638: 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 639 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 640: Installation Locations For The Calibration Tools

    This is shown in the figure. xx2400000288 Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 641 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 642: 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 643 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 644 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 645: After Calibration

    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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 646: Reference Calibration

    (step 5, see Brief introduction to Reference Calibration on page 646). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 647 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 648: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 649: Checking The Synchronization Position

    This may be done: • Using a MoveAbsJ instruction with argument zero on all axes. • Using the Jog window on the FlexPendant. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 650: Checking The Synchronization Position On Omnicore Robots

    If they do not, up- ization position for axes on page 631 date the revolution counters. Updating revolution counters on page 634. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 651: Decommissioning

    See also Environmental information on page 652. Transportation Prepare the robot or parts before transport, this to avoid hazards. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 652: Environmental Information

    7.2 Environmental information 7.2 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials shall 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 653 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 654: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 655: Decommissioning Of Balancing Device

    The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 656 Use a cutting torch with a long shaft. figure. 100* 100* xx1100000098 * Minimum measure, in millimeters. ** Maximum measure, in millimeters. Continues on next page Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 657 • Inner spring: cut at least eight coils! Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 658 This page is intentionally left blank...

  • Page 659: Reference Information

    8.1 Introduction 8 Reference information 8.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 660: Applicable Standards

    Standards For Safety - Robots and Robotic Equipment CSA Z434 (option) Industrial robots and robot Systems - General safety require- ments Valid for USA and Canada. Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 661: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 662: Screw Joints

    8.4 Screw joints 8.4 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 663 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 664 Nm - Max. Mixed The lower tightening torque of the two materials. Brass only Brass only Brass only Brass only Stainless steel only Brass only Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 665: 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 666: Standard Toolkit

    Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.

  • Page 667: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 668 8 Reference information 8.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Removal/refitting tools Replacement tool for arm house 3HAC079878-001 cover xx2100002289 Press tools, parallel rod shaft and 3HAC093483-001 bearing 3HAC14631-1 Removal tool motor M12...
  • Page 669 8 Reference information 8.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC081585-001 Lifting accessory for gear xx2100002415 Fender washer 3HAC15556-1 Lifting accessory (chain) xx1200001241 3HAC16131-1 Lifting eye xx1200001242 3HAC14457-4 Lifting eye M16...
  • Page 670 8 Reference information 8.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC081310-001 Brake release tool xx2100000666 Calibration tools Calibration toolbox, Axis 3HAC074564-001 Calibration Adjustment and fixing tools 3HAB7887-1 Rotation tool M4...

  • Page 671: 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 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 672 This page is intentionally left blank...
  • Page 673 187 inspecting, 121 replacing, 236 decommissioning balancing device bearing balancing device, 655 replacing, 236 dimensions base plate, 60 robot, 81 batteries direction of axes, 633 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 674 2, 131 inspecting oil levels gearbox axis 3, 134 axis 1, 128 gearbox axis 4, 140 axis 2, 131 gearbox axis 4 (primary), 137 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 675 634 safety, 35 risk of burns, 30 turning disc risk of tipping, 57 replacing, 329 robot turning radius, 49 dimensions, 81 equipment, fitting, 81 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 676 297, 303, 409, 411, 426, 429, 443, 445, zero position 456, 458, 467, 488, 508, 534, 550, 576, 592 checking, 649 balancing device, 240, 242, 244, 250 Product manual - IRB 7720 3HAC089605-001 Revision: B © Copyright 2024 ABB. All rights reserved.
  • Page 678 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 2024 ABB. All rights reserved. Specifications subject to change without notice.

This manual is also suitable for:

Omnicore irb 7710

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