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ABB IRB 6700 Series Product Manual
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ABB IRB 6700 Series Product Manual

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Table of Contents

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IRB 6700

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Summary of Contents for ABB IRB 6700 Series

  • Page 1 ROBOTICS Product manual IRB 6700...
  • Page 2 Trace back information: Workspace R18-2 version a18 Checked in 2018-11-20 Skribenta version 5.3.012...
  • Page 3 IRB 6700 - 150/3.20 IRB 6700 - 200/2.60 IRB 6700 - 155/2.85 IRB 6700 - 300/2.70 IRB 6700 - 245/3.00 IRC5 Document ID: 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. 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, damages to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Axes with restricted working range ............. 2.5.2 Mechanically restricting the working range of axis 1 ........Electrical connections ..................2.6.1 Robot cabling and connection points ............Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 6 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) ....4.3.4 Attaching lifting accessories to an un-separated lower and upper arm (IRB 6700 -300/2.70, -245/3.00) ................Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 7 Calibrating with Calibration Pendulum method ............Verifying the calibration ..................Checking the synchronization position ..............Decommissioning Environmental information .................. Scrapping of robot ..................... Decommissioning of balancing device ..............Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 8 Special tools ....................Lifting accessories and lifting instructions .............. Spare parts Spare part lists and illustrations ................10 Circuit diagrams 10.1 Circuit diagrams ....................Index Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 9: Overview Of This Manual

    Prerequisites Maintenance/repair/installation personnel working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Product manual scope The manual covers covers all variants and designs of the IRB 6700 . Some variants and designs may have been removed from the business offer and are no longer available for purchase.
  • Page 10 • Some illustrations showing IRB 6640 are replaced with IRB 6700. • The information is updated in Lifting with fork lift accessory. ABB recommends that the fork lift accessories are removed before powering up the robot. The following updates are done in this revision: •...
  • Page 11 • Sections "Inspecting oil level" and "Changing oil in gear box" are updated with information for 300/2.70 and 245/3.00. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 12 Motors updated, M12 instead of M14 holes on IRB6700 for removal tool. • Quality recommendations on foundation removed from manual. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 13 Added article number for axis-3 pinion tool. Published in release R18.2. The following updates are made in this revi- sion: • Updated references. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 14: 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 15 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 16: How To Read The Product Manual

    Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 17: 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 complete system, nor does it cover all peripheral equipment that can influence the safety of the entire system.
  • Page 18 Unauthorized modifications of the originally delivered robot are prohibited. Without the consent of ABB, it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength of the robot could be affected.

  • Page 19: Protective Stop And Emergency Stop

    1.1.2 Protective stop and emergency stop 1.1.2 Protective stop and emergency stop Overview The protective stops and emergency stops are described in the product manual for the controller. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 20: Safety Actions

    1.2 Safety actions 1.2.1 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the manipulator or controller. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 21: 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 22: Make Sure That The Main Power Has Been Switched Off

    DANGER Even if the main switch is switched off, the capacitors can cause electric shock if not given the time to discharge. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 23: Safety Risks

    Corrective maintenance must only be carried out by qualified personnel who are familiar with the entire installation as well as the special risks associated with its different parts. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 24 ABB is not liable for damages caused by the use of non-original spare parts and special equipment. ABB is not liable for damages or injuries caused by unauthorized modifications to the robot.

  • Page 25: Moving Robots Are Potentially Lethal

    Make sure no personnel are present within the working range of the robot before pressing the start button. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 26: First Test Run May Cause Injury Or Damage

    Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before the first test run. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 27: Work Inside The Working Range Of The Robot

    Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 28: Enabling Device And Hold-To-Run Functionality

    How to operate the hold-to-run function for IRC5 is described in Operating manual - IRC5 with FlexPendant. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 29: Risks Associated With Live Electric Parts

    The power supply for the motors (up to 800 VDC). • The user connections for tools or other parts of the installation (max. 230 VAC). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 30 Tools, material handling devices, etc., may be live even if the robot system is in the OFF position. Power supply cables which are in motion during the working process may be damaged. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 31: The Unit Is Sensitive To Esd

    The mat must be grounded through a current-limit- ing resistor. Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 32: Hot Parts May Cause Burns

    Wait until the potentially hot component has cooled if it is to be removed or handled in any other way. Do not put anything on hot metal surfaces, e.g. paper or plastic. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 33: Safety Risks Related To Pneumatic/Hydraulic Systems

    Dump valves should be used in case of emergency. Shot bolts should be used to prevent tools, etc., from falling due to gravity. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 34: Brake Testing

    3 Inspect and verify that the axis maintains its position. If the robot does not change position as the motors are switched off, then the brake function is adequate. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 35: Safety Risks During Handling Of Batteries

    Risk of fire or explosion. Operating temperatures are listed in Pre-installation procedure on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 36: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)

    Possible pressure build-up in gearbox Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 37 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 38: Safety Signals And Symbols

    ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 39 Significance NOTE Describes important facts and conditions. Describes where to find additional information or how to do an operation in an easier way. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 40: Safety Symbols On Product Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 41 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 42 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 43 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 44 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 45 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 46 This page is intentionally left blank...

  • Page 47: Installation And Commissioning

    If the IRB 6700 is connected to power, always make sure that the robot is connected to protective earth before starting any installation work. For more information see: • Product manual - IRC5 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 48: 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 49 These forces and torques are extreme values that are rarely encountered during operation. The values also never reach their maximum at the same time! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 50 This might be a problem, depending on the requirements from the applications. If this is a problem, the robot needs to be isolated from the environment. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 51 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Standard IP67 Manipulator, protection type Foundry Plus IP67 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 52: Working Range

    Working range axis 5 and axis 6 for LeanID, option 780-4 Allowed working area for axis 6 related to axis 5 position is shown in the figure below. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 53 This illustration shows the unrestricted working range of the robot. 1281 2039 2794 Robot type Handling capacity Reach IRB 6700 205 kg 2.80 m Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 54 This illustration shows the unrestricted working range of the robot. 1604 1067 2445 3200 Robot type Handling capacity Reach IRB 6700 150 kg 3.20 m Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 55 This illustration shows the unrestricted working range of the robot. 1352 2106 2848 Robot type Handling capacity Reach IRB 6700 155 kg 2.85 m Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 56 This illustration shows the unrestricted working range of the robot. 1518 1057 2097 2967 Robot type Handling capacity Reach IRB 6700 245 kg 3.00 m Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 57 IRB 6700 - 150/3.20 3200 IRB 6700 - 200/2.60 2601 IRB 6700 - 155/2.85 2848 IRB 6700 - 300/2.70 2720 IRB 6700 - 245/3.00 2967 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 58: Risk Of Tipping/Stability

    This figure shows the robot in its shipping position and transportation position. xx1300000356 WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 59: Main Dimensions

    IRB 6700 - 150/3.20 2445 1280 2080 2230 1,592.5 IRB 6700 - 200/2.60 2276 1125 1623 1773 1,142.5 197.5 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 60 2023 1,392.5 197.5 IRB 6700 - 300/2.70 2321 1145 1718.5 1878.5 1212.5 222.5 IRB 6700 - 245/3.00 2321 1145 1968.5 2128.5 1462.5 222.5 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 61: On-Site Transportation

    Transportation in any other way can seriously damage the robot. If the robot is incorrectly transported and the instructions are not followed, the robot is not covered by the warranty and ABB will not accept any compensation claim. Method 1 - recommended method Transportation according to method 1 is strongly recommended by ABB.
  • Page 62 Continued Method 2 - transportation with a tool mounted to the robot Transportation according to method 2 is approved by ABB, only if use of method 1 is not possible. Always follow these instructions when transporting an ABB robot according to method 2: •...
  • Page 63 Transport position with a transport support All transportation of the robot with tool must follow these instructions. IRB 6700 xx0800000040 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 64 2.65 3.05 2.60 2.85 2.70 3.00 Lower 1135 1280 1135 1280 1125 1125 1145 1145 arm L 1000 1160 630 1004 1000 xx1300001603 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 65: Securing The Robot With A Transport Support

    It must be done with great care and only when absolutely necessary. Fitting the transport support Illustration for fitting the transport support xx0800000062 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 66 Use the brake release for axis 5 and 6 to reach the final resting position for the tool, see the section Manually releasing the brakes on page 85 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 67: On-Site Installation

    Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 68: Lifting The Base Plate

    Lift and move the base plate very slowly. If the base plate starts to swing it is a risk for injuries or damage. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 69: Securing The Base Plate

    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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 70 2 Installation and commissioning 2.4.3 Securing the base plate Continued 2x R22,5 3x 90° xx1500000247 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 71 2x 298 223,5 214,1 215,9 198,8 111,4 111,2 82,1 xx1500000249 Color: RAL 9005 Thickness: 80-100 µm Weight: 360 kg Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 72 M5 x 40. Tightening torque 6 Nm. (x2) Note All screws and pins are delivered in a plastic bag together with the base plate. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 73 These procedures include references be required. See references to to the tools required. these procedures in the step-by- step instructions below. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 74 All screws and pins are delivered in a plastic bag together with the base plate. xx1500000250 A Cylindrical guide pin B M5 x 40. Tightening torque 6 Nm. (x2) Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 75: Lifting The Robot

    Directions for use - Fork lift accessory for IRB 6700 3HAC048484-002 Lifting the robot Action Note Lift the robot according to the user instructions enclosed with the fork lift accessory. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 76: Lifting The Robot With Roundslings

    IRB 6700 - 245/3.00 Roundsling, 2.5 m Roundsling, 2.5 m Roundsling, 2.5 m (4 pcs) Lifting eye, M20 (4 pcs) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 77 Axis 6: no significance WARNING The robot is likely to be mechanically un- stable if not secured to the foundation. xx1300000356 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 78 If the lifting eyes have sharp edges that might damage the roundslings, lifting shackles must be used to attach the roundslings to the lifting eyes. xx1300001572 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 79 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 80: Orienting And Securing The Robot

    45 H7 25 H8 0,12 0,12 D - D E - E xx1300000243 Description Holes for guide pins (x2) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 81 Tightening torque: 550 Nm (screws lubricated with Molykote 1000) 600-725 Nm, typical 650 Nm (screws none or lightly lubricated) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 82 Lightly lubricate screws before as- sembly. Tighten bolts in a crosswise pattern to ensure that the base is not distorted. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 83 Cylindrical guide pin Note There are versions with a flattened cylindrical guide pin in left rear of the base. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 84 There are versions with a flattened cylindrical guide pin in left rear of the base. It is important that the flattened pin is aligned in correct direction. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 85: Manually Releasing The Brakes

    Make sure no personnel is near or beneath the ro- bot. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 86 Supply 0V on pin 12 and 24V on pin 11. xx0600002937 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 87: Loads Fitted To The Robot, Stopping Time And Braking Distances

    The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification for the robot. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 88: Fitting Equipment To The Robot

    R is the radius (m) from the center of axis 1 • M4 is the total mass (kg) of the equipment including bracket and harness (≤ 250 kg) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 89 M1 ≤ 50 kg with a distance (a) ≤ 500 mm from the center of gravity in the axis-3 extension. xx1400002019 Mass center Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 90 2 Installation and commissioning 2.4.8 Fitting equipment to the robot Continued xx1300000866 Center of gravity 50 kg Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 91 B - B xx1300000263 Allowed position for attachment holes, M12 through. Be careful not to touch the cables when drilling. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 92 IRB 6700 - 300/2.70 R=230 652.5 98.5 215.5 IRB 6700 - 245/3.00 R=230 652.5 98.5 215.5 Smallest circumscribed radius axis-4. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 93 IRB 6700 - 245/3.00 R=468 222.5 273.5 523.5 IRB 6700 - 300/2.70 R=468 222.5 273.5 523.5 Smallest circumscribed radius axis-3. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 94 Fastener quality Use suitable screws and tightening torque for your application, screws with quality class 12.9 are recommended. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 95 Thread length: 18 mm. Fastener quality Use suitable screws and tightening torque for your application, screws with quality class 12.9 are recommended. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 96: Restricting The Working Range

    Note Adjustments must also be made in the robot configuration software (system parameters). References to relevant manuals are included in the installation procedures. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 97: Mechanically Restricting The Working Range Of Axis

    Attachment screws M12x70 quality 12.9 Gleitmo 603 (2 pcs per additional mechanical stop) Movable mechanical stop Mechanical stop pin axis-1 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 98 Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 99: Electrical Connections

    Robot cable, power Power cable length Article number 3HAC026787-001 15 m 3HAC026787-002 22 m 3HAC026787-003 30 m 3HAC026787-004 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 100 There is a grounding/bonding point on the manipulator base. The grounding/bonding point is used for potential equalizing between control cabinet, manipulator and any peripheral devices. xx1500001600 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 101 3HAC022723-005 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Harness - cooling, 30 m 3HAC022723-006 Distributing cable: R1.FAN.SW2/3 Inside cabinet: A43.X10 and A43.X11 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 102: Installation Of Options

    The lamp is active in MOTORS ON mode. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 103: Installing The Motor Cooling Fan (Option)

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 6700/IRB 6700Inv on ABB Library. Spare part Article number...
  • Page 104 Loosen the two tightening screws so they don´t damage the motor surface during installation. xx1800000159 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 105 Connecting the fan cabling Action Note Remove the rear cover plate. xx1800000161 Fit the customer connection plate. xx1800000162 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 106 Secure the cable bracket inside the frame with the two enclosed nuts. xx1800000166 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 107 Refit the rear cover plate to the robot base. xx1800000161 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 108 Modify Controller System Wizard in the System Builder of RobotStu- dio. Read more about modifying the system in Operating manu- al - RobotStudio. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 109: Start Of Robot In Cold Environments

    If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 110 This page is intentionally left blank...

  • Page 111: Maintenance

    If the IRB 6700 is connected to power, always make sure that the IRB 6700 is connected to protective earth before starting any maintenance work. For more information see: • Product manual - IRC5 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 112: Maintenance Schedule And Expected Component Life

    40000 hours. ABB Connected Services and its Assessment tools can help you to identify the real stress level of your robot, and define the optimal ABB support to maintain your robot working. Contact your local ABB Customer Service to get more information.

  • Page 113: Maintenance Schedule

    Inspecting the dampers page 152 Inspecting the axis-1 mechanical stop pin on Inspecting the mechanical stop page 146 Replacement/changing activities Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 114 The battery is to be replaced at given maintenance interval or at battery low alert. Always lubricate the front eye bearing after refitting the shaft of the balancing device. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 115: Expected Component Life

    Deviations from this cycle will result in differences in expected life! The SIS for an IRC5 system is described in the Operating manual - Service Information System. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 116: Inspection Activities

    Robots with protection type Foundry Plus have a transparent plug/sight glass installed in the evacuation holes. xx1800000101 xx1800000102 Protection filter (Standard). Transparent plug (Foundry Plus). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 117 Replacing of motors is described in the repair chapter Motors on page 503. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 118: Inspecting The Oil Level In Axis-1 Gearbox

    IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20, IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 119 Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 120 Safety risks during work with gearbox lub- ricants (oil or grease) on page Make sure that the oil temperature is +25°C ± 10°C. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 121 Check the oil level. Required oil level is: 58 mm ± 5 mm below the sealing surface of the oil plug. xx1300000692 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 122 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 123: Inspecting The Oil Level In Axis-2 Gearbox

    Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 124 Chan- ging oil, axis-2 gearbox on page 165. Refit the oil plug. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 125 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 126: Inspecting The Oil Level In Axis-3 Gearbox

    Required tools Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 127 Safety risks during work with gearbox lub- ricants (oil or grease) on page Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 128 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 129: Inspecting The Oil Level In Axis-4 Gearbox

    Use this procedure to inspect the oil level in the gearbox. Action Note Run the robot to calibration position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 130 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 131: Inspecting The Oil Level In Axis-5 Gearbox

    Use this procedure to inspect the oil level in the gearbox. Action Note Run the robot to calibration position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 132 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 133: Inspecting The Oil Level In Axis-6 Gearbox

    Technical reference manual - Lubrica- tion in gearboxes. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 134 Safety risks during work with gearbox lub- ricants (oil or grease) on page Open the oil plug. xx1600002049 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 135 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 136: Inspecting The Balancing Device

    Piston rod (inside balancing device) Link ear Rear attachments of the balancing device (rear bearing) Required tools Visual inspection, no tools are required. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 137 Maintenance kit, complete. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 138 Required material on page 137. Replacement of the complete bearing is described in section Replacing the balancing device on page 461. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 139 Keep the areas around the balancing device clean and free from objects, such as service tools. xx1300000423 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 140: Inspecting The Cable Harness

    • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 141 Replace damaged cabling, if any. xx1300001094 Replace the cable harness if wear, cracks Removing the cable harness on or damage is detected. page 231. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 142: Inspecting The Information Labels

    These figures show the location of the information labels to be inspected. The symbols are described in section Safety symbols on product labels on page Illustration 1 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 143 1x, 2000 kg, 2 m/2,5 m 1x, 2000 kg, 2 m 4x, 2000kg, 2,5 m 3HAC 046732-001 / 00 xx1300001084 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 144 Stored energy 3HAC 9526-1/04 xx1300001086 Warning label Heat xx1300001087 xx1700000984 Warning label Tip risk when loosening bolts 3HAC 9191-1/02 xx1300001088 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 145 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Spare parts on page 837. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 146: Inspecting The Axis-1 Mechanical Stop Pin

    • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 147 If the mechanical stop pin is bent or damaged, it must be replaced. Note The expected life of gearboxes can be reduced after collision with the mechanical stop. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 148: Inspecting The Additional Mechanical Stops

    • Mechanical stop • Attachment screws M12x70 quality 12.9 Gleitmo 603 and washers • Document for mechanical stop Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 149 Article number is specified in be replaced. Required equipment on page 148. Correct attachment screws: • M12x70 quality 12.9 Gleitmo 603 (2 pcs per additional mechanical stop) Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 150: Inspecting The Fork Lift Accessory

    Article number Note Fork lift accessory set 3HAC047054-003 Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 151 Required equipment on page 148. Correct attachment screws: • M20x60 quality steel 8.8-A3F (2 pcs per addi- tional mechanical stop) Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 152: Inspecting The Dampers

    • air pressure supply to the robot Before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 153 Spare part number is found in Product replaced with a new one. manual, spare parts - IRB 6700/IRB 6700Inv. Attachment screws: M6x60. Locking liquid: Loctite 243. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 154: Inspecting The Signal Lamp (Option)

    Use this procedure to inspect the function of the signal lamp. Action Note Inspect that signal lamp is lit when motors are put in operation ("MOTORS ON"). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 155 3 (=24V). • inspecting the cabling. Replace the cabling if a fault is detected. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 156: Replacement/Changing Activities

    Before starting any inspection, maintenance, or changing activities of lubrication, always contact the local ABB Service organization for more information. For ABB personnel: Always check ABB Library for the latest revision of the manual Technical reference manual - Lubrication in gearboxes, in order to always get the latest information of updates about lubrication in gearboxes.
  • Page 157 Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 158: Changing Oil, Axis-1 Gearbox

    Oil dispenser One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 156. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 159 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 160 Remove the oil dispenser. Refit the protective cap on the nipple. Refit the vent hole plug. Tightening torque: 24 Nm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 161 (oil or grease) on page Remove the protective cap from the nipple of the oil hole and connect the oil dis- penser. xx1200000948 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 162 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 163 Required oil level: 58 mm ± 5 mm below the sealing surface of the oil plug. xx1300000692 IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 xx1500001655 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 164 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 165: Changing Oil, Axis-2 Gearbox

    Information about the oil is found in Technical refer- ence manual - Lubrication in gearboxes. Type and amount of oil in gearboxes on page 156. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 166 Remove the protective cap from the nipple of the oil hole and connect the oil dis- penser. xx1200000951 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 167 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 168 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 169 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 170: Changing Oil, Axis-3 Gearbox

    Type of lubrication in gearboxes on page 156. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 171 The gearbox can contain an excess pres- sure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 172 Suck out the oil with the oil dispenser. Note There will be some oil left in the gear after draining. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 173 (oil or grease) on page Remove the protective cap from the nipple of the oil hole and connect the oil dis- penser. xx1200000954 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 174 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 175 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 176: Changing Oil, Axis-4 Gearbox

    Draining the axis-4 gearbox Use this procedure to drain the gearbox. Action Note Run the robot to calibration position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 177 Remove the oil plug from the fill/level hole. Note The level hole is opened to speed up the drainage. xx1200000957 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 178 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 179 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 180: Changing Oil, Axis-5 Gearbox

    Draining the axis-5 gearbox Use this procedure to drain the gearbox. Action Note Run the robot to calibration position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 181 Used oil is hazardous material and must be disposed of in a safe way. See section Decommissioning on page 813 for more in- formation. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 182 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 183 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 184: Changing Oil, Axis-6 Gearbox

    Draining the axis-6 gearbox Use this procedure to drain the gearbox. Action Note Jog the robot to calibration position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 185 Remove the oil plug from the fill hole. Note The fill hole is opened to speed up the drainage. xx1200000963 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 186 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 187 Required oil level is: 0 - 10 mm below the oil plug hole. Refit the oil plug. Tightening torque: 24 Nm Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 188 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 189: Replacing The Smb Battery

    Required tools Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 190 Pull out the battery and disconnect the battery cable. xx1200001069 Remove the SMB battery. Battery includes protection circuits. Only replace with a specified spare part or with an ABB- ap- proved equivalent. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N...
  • Page 191 Make sure all safety requirements are met when performing the first test run. These are further described in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 192: Lubrication Activities

    Article number Note Grease 3HAA1001-294 Tribol GR 100-0 PD, 50 ml Used for lubrication of the spherical roller bearing. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 193 Refit the two screws and wipe clean from residual grease. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 194: Cleaning Activities

    Never point the water jet at connectors, joints, sealings, or gaskets. • Do not use compressed air to clean the robot. • Never use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. •...
  • Page 195 Typical tap water pressure and flow Instructions for steam or high pressure water cleaning ABB robots with protection types Foundry Plus, Wash, or Foundry Prime can be cleaned using a steam cleaner or high pressure water cleaner. The following list defines the prerequisites: •...
  • Page 196 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 197: Repair

    Each procedure contains all the information required to perform the activity, for example spare parts numbers, required special tools, and materials. WARNING Repair activities not described in this chapter must only be carried out by ABB. Otherwise damage to the mechanics and electronics may occur. Required equipment The details of the equipment required to perform a specific repair activity are listed in the respective procedures.

  • Page 198: 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 199: 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 200 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 201: Mounting Instructions For Seals

    Never hammer directly on the seal as this may result in leakage. Make sure no grease left on the robot surface. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 202 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.

  • Page 203: Dismantle And Mounting Tool, 3Hac028920-001

    The procedure specifies which tool part to be used. The complete tool set (3HAC028920-001), as follows. xx1700000383 Part A (hydraulic cylinder) is ordered separately, 3HAC11731-1. Hydraulic pump is ordered separately, 3HAC13086-1. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 205: The Brake Release Buttons May Be Jammed After Service Work

    If a button gets jammed in the depressed position, the alignment of the brake release unit must be adjusted so that the buttons can move freely in their tubes. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 206: Lifting Associated Procedures

    The complete arm system consists of the following parts of the robot: • upper arm • wrist • lower arm • frame Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 207 Lifting accessory (chain) 3HAC15556-1 Lifting instruction 3HAC15880-2 en- closed. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 208 The complete arm system weigh (according to variants) 1100 kg. All lifting accessories used must be sized accord- ingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 209 Without the roundsling the weight of the lower arm and frame is applied to the axis-3 gear during lifting, which risks to damage the gear. xx1200001235 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 210 Roundsling, 1 m: Length: 1 m, lift- the wrist. ing capacity: 1,000 kg. xx1200001236 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 211: Attaching Lifting Accessories To Complete Arm System (Irb 6700 -300/2.70, -245/3.00)

    The complete arm system consists of the following parts of the robot: • upper arm • wrist • lower arm • frame, including the balancing device. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 212 Fender washer Outer diameter: minimum 26 mm, maximum 30 mm, hole diameter: 13 mm, thickness: 3 mm. Lifting shackle SA-10-8-NA1 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 213 CAUTION The complete arm system weighs 1300 Kg. All lifting accessories used must be sized accord- ingly! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 214 Fender washer. Outer diameter: minimum 26 mm, maximum 30 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 215 Use caution and jog axis-3 slowly to stretch the roundsling. Note Make sure the roundsling is stretched, so it can carry the weight of the frame. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 216 (or similar) and then to the lifting eye 3HAC15556-1 in the arm house and to the lifting eye in the wrist. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 217: Attaching Lifting Accessories To An Un-Separated Lower And Upper Arm (Irb 6700-235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85)

    How to attach lifting accessories to variants IRB 6700 -300/2.70, -245/3.00 see section 4.3.4 Attaching lifting accessories to an unseparated lower and upper arm. Attachment points of lifting accessory xx1200001254 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 218 • Axis-2: -45° • Axis-3: +65° (approximately) • Axis-4: 0° • Axis-5: 0° • Axis-6: 0°. xx1200001250 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 219 Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx1200001133 Fit a lifting shackle in the wrist lifting eye. Lifting shackle: SA-10-8-NA1 xx1200001234 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 220 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 221 Raise the overhead crane to stretch the chains and roundslings. Verify that the roundsling between the wrist and the lower arm is stretched. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 222 To release the brake, connect the 24 VDC power supply. Connect to connector R2.MP2, axis-2 motor: • + = pin 2 • - = pin 5 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 223: Attaching Lifting Accessories To An Un-Separated Lower And Upper Arm (Irb 6700 -300/2.70, -245/3.00)

    -175/3.05, -150/3.20, -200/2.60, -155/2.85 see section 4.3.3 Attaching lifting accessories to an unseparated lower and upper arm. Attachment points of lifting accessory xx1400002104 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 224 Axis 5: 0° (-90° if DressPack is in- stalled) • Axis 6: 0° (+90° if DressPack is in- stalled) xx1200001250 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 225 • With DressPack cable package installed: Use the ball joint housing in the same way. xx1200001251 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 226 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 227 To release the brake, connect the 24 VDC power supply. Connect to connector R2.MP2, axis-2 motor: • + = pin 2 • - = pin 5 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 228: Attaching Lifting Accessories To The Upper Arm

    Lifting accessory (chain) 3HAC15556-1 Lifting instruction 3HAC15880-2 en- closed. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 229 All lifting accessories used must be sized accordingly. Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx1200001133 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 230 In case of necessary adjustments, use the shortening loops on the lifting accessory (chain) to find the level position. xx1400002197 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 231: Complete Robot

    Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 232 If only the manipulator harness shall be removed, the DressPack cable package can stay fitted on the process turning disk. xx1400000208 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 233 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 234 Remove the heat protection plates from the is installed on the robot. motor with the cabling still attached to the plate. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 235 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 236 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 237 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 238 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 239 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 240 The motor shall be refitted in the same position. xx1200001067 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 241 If used, loosen the insert. xx1700000690 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 242 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx1300000557 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 243 The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx1300000543 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 244 Cable guide. xx1300000544 Cable fixing bracket. Remove the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 245 (This is not needed on variants IRB 6700 - 300/2.70, -245/3.00) xx1400002561 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 246 Remove the base cover. xx1300000561 Disconnect connectors: • R1.MP • R1.SMB xx1300000591 If used, disconnect the DressPack hoses in the base. xx1400000366 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 247 Note There is no need to pull out the DressPack cables at this point! xx1400000088 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 248 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 249 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 250 Clean cover from metal residues before opening. Metal residues can cause shortage on the boards which can result in hazardous failures. xx1300000669 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 251 Pull out the robot cable harness through the protection tube. xx1300000732 Place the cable harness over the balancing device. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 252 Cut the cable tie inside the frame recess. xx1200001237 Disconnect connectors on the SMB unit. xx1300001114 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 253 Use caution and pull out the cable harness from the SMB recess. Note The parts are sealed with Sikaflex. Remove the part carefully. xx1300000560 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 254 Note The screws are reached from the outside of the lower arm. xx1300000540 Use caution and pull the cable harness out. xx1300000733 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 255: Refitting The Cable Harness

    Consumables Consumable Article number Note Grease 3HAB3537-1 Used to lubricate o-rings. O-ring D=84.5x3 21522012-429 Used on the SMB/BU cover. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 256 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 257 Run the cable harness into the hole in the frame in this order: • R1.MP • R1.SMB • R2.MP2 • R2.MP1 xx1300000735 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 258 Connect connectors R1.MP and R1.SMB. Tightening torque for R1.SMB: 10 Nm. xx1300000591 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 259 If used, fit the bracket that hold the DressPack to the frame. xx1400000078 If used, connect the DressPack cable package on the base plate. xx1200000052 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 260 Apply Sikaflex on the o-ring before as- sembly. Run the SMB/BU cables into the SMB re- cess. xx1300000560 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 261 Secure the SMB/BU cover with its attach- Screws: 3 pcs. ment screws from inside the SMB/BU re- cess. xx1300000655 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 262 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section The unit is sensitive to ESD on page 31 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 263 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 264 Reconnecting the axis-1 and axis-2 motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 265 O-ring, axis-3: 3HAB3772-111 (circular profile) / 3HAC054692-002 (hexagon pro- file) O-ring, axis-4: 3HAB3772-110 (circular profile) / 3HAC054692-001 (hexagon pro- file) xx1200001070 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 266 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 267 Do not change the po- sition of the brackets! xx1300000595 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 268 Refit the arm house metal clamp. xx1300000543 Arrange the cables between the cable clamps in the upper arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 269 Make sure all three washers are fitted. xx1400000382 A Gasket B Cable guide C Washer D Cover Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 270 DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx1400000356 xx1300000820 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 271 Refit the metal clamp axis-4 inside the arm tube. Note The screws are reached from outside the upper arm! xx1700000340 xx1700000339 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 272 DressPack cable package through the hole in the upper arm. xx1700000690 If used, refit the tube containing the DressPack into the insert. xx1400000092 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 273 Make sure the gasket is fitted cor- rectly • Use attachment screws made of stainless steel to fit the cover. xx1200000045 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 274 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 275 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 276 Tighten the inner screw. Make sure that the gasket is not damaged. Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 277 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 278 B motor. See Type A vs type B motors on page 819. xx1500001029 xx1300000489 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 279 Fit the heat protection plate with the Choose figure depending on which plate screws. is installed on the robot. Screws: M5x12. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 280 5 manually to +90°. xx1200001081 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 281 Secure the cable bracket with its attach- ment screws. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 282 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 283 A Protection plugs (2 on wrist cover and 2 on cover axis-5 gearbox) B Washers (10 pcs) in gasket holes Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 284 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 285: Replacing The Smb

    Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 286 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section unit is sensitive to ESD on page 31 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 287 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 288 Be careful not to damage the sockets or pins. Make sure the connector and its locking arms are snapped down properly. xx1700000978 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 289 The unit is sensitive to ESD on page 31 Reconnect the battery cable. Place the battery in the recess. xx1300000829 Refit the battery cover. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 290 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 291: Replacing The Brake Release Unit

    Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 292 If the battery stays connected, put (or hold) the SMB cover in a safe position. The battery cable connectors can otherwise be damaged. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 293 Remove the bracket with the brake release unit fitted. Remove the brake release unit from the bracket. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 294 Refit the SMB cover with its attachment screws. Note Do not refit the push button guard at this point! xx1300000742 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 295 Make sure all safety requirements are met when performing the first test run. These are further de- scribed in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 296: Upper And Lower Arms

    Consumables Parts needed to be replaced after removal. Equipment, etc. Article number Note Grease 3HAB3537-1 Used to lubricate o-rings. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 297 Required if Axis Calibration is the valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 298 Jog the robot to a position where it is best to remove tools and other equipment fitted to wrist and upper arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 299 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 300 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Remove the wrist cover. xx1300002247 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 301 Remove the heat protection plates from the is installed on the robot. motor with the cabling still attached to the plate. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 302 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 303 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 304 Unscrew the attachment screws and re- move the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 305 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 306 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 307 The motor shall be refitted in the same position. xx1200001067 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 308 If used, loosen the insert. xx1700000690 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 309 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx1300000557 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 310 The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx1300000543 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 311 Cable guide. xx1300000544 Cable fixing bracket. Remove the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 312 (This is not needed on variants IRB 6700 - 300/2.70, -245/3.00) xx1400002561 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 313 (chain) to an overhead crane (or similar) and then to the lifting eye in the arm house and in the wrist. xx1200001308 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 314 Leave one of the remaining attachment screws fitted, remove the other screws. xx1300000747 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 315 Lubricate the guide pins with some grease to make the upper arm slide better. xx1400002563 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 316 (chain), and make sure to place the chain the right way through the loops. xx1400002197 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 317 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 318 Lubricate the guide pins with some grease to make the upper arm slide better. xx1700000058 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 319 Attach the lifting accessories, if not already Attaching lifting accessories to the fitted. upper arm on page 228. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 320 IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 iii IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 321 3HAC067545-001 pins in the lower arm. Insert 22 of the 24 M12 screws and wash- ers. xx1300002246 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 322 Use the pinion to rotate the axis-3 gearbox 3HAC067547-001 to find the correct position for the guide 3HAC067545-001 pins in the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 323 Refitting the cable harness - upper arm Action Note Refit the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 324 Make sure all three washers are fitted. xx1400000382 A Gasket B Cable guide C Washer D Cover Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 325 DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx1400000356 xx1300000820 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 326 Refit the metal clamp axis-4 inside the arm tube. Note The screws are reached from outside the upper arm! xx1700000340 xx1700000339 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 327 DressPack cable package through the hole in the upper arm. xx1700000690 If used, refit the tube containing the DressPack into the insert. xx1400000092 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 328 Make sure the gasket is fitted cor- rectly • Use attachment screws made of stainless steel to fit the cover. xx1200000045 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 329 Connecting the axis-3 and axis-4 motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 330 O-ring, axis-3: 3HAB3772-111 (circular profile) / 3HAC054692-002 (hexagon pro- file) O-ring, axis-4: 3HAB3772-110 (circular profile) / 3HAC054692-001 (hexagon pro- file) xx1200001070 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 331 Connecting the axis-5 motor cables Action Note Push the motor cables in through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 332 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 333 B motor. See Type A vs type B motors on page 819. xx1500001029 xx1300000489 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 334 Fit the heat protection plate with the Choose figure depending on which plate screws. is installed on the robot. Screws: M5x12. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 335 5 manually to +90°. xx1200001081 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 336 Secure the cable bracket with its attach- ment screws. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 337 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 338 Calibrating with Axis Calibration method on page 798. General calibration information is included in section Calibration on page 787. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 339 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 340: Replacing The Wrist

    Location of the wrist The wrist is located as shown in the figure. xx1300000597 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 341 Required if Axis Calibration is the valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 342 Remove tools and other equipment fitted to the wrist. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 343 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 344 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Remove the wrist cover. xx1300002247 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 345 Remove the heat protection plates from the is installed on the robot. motor with the cabling still attached to the plate. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 346 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 347 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 348 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 349 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 350 Note Make sure the roundsling is stretched, so it can carry the weight of the wrist. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 351 CAUTION Make sure that the cabling does not get damaged. xx1300000750 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 352 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Wipe clean all contact surfaces. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 353 125 kg (IRB 6700 -235/2.65, -205/2.80, - 175/3.05, -150/3.20, -200/2.60, -155/2.85) 140 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 354 Run the cabling into the wrist unit. Be careful not to damage any part of the cable harness. xx1300000769 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 355 Remove the guide pins and replace them with the remaining attachment screws and washers. xx1300000748 Tighten the attachment screws. Tightening torque: 120 Nm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 356 Replace the gasket if damaged. xx1200001016 Connect the connectors. Connect in accordance with the markings on the connectors. xx1200001015 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 357 Replace with standard attachment screws. Note Make sure the o-ring is undamaged and xx1200001013 properly fitted. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 358 B motor. See Type A vs type B motors on page 819. xx1500001029 xx1300000489 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 359 Fit the heat protection plate with the Choose figure depending on which plate screws. is installed on the robot. Screws: M5x12. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 360 5 manually to +90°. xx1200001081 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 361 Secure the cable bracket with its attach- ment screws. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 362 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 363 A Protection plugs (2 on wrist cover and 2 on cover axis-5 gearbox) B Washers (10 pcs) in gasket holes Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 364 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 365: Replacing The Turning Disc

    Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 366 - IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 Remove the screws and washers, that se- cure the turning disc. xx1300002302 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 367 - IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Remove the screws and washers, that se- cure the turning disc. xx1400002195 Remove the turning disc. xx1300000493 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 368 Use the holes closest to the synchronization Use the holes at the back end of the synchron- mark. ization plate. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 369 Secure the turning disc with its attachment Gleitmo 603 (24 pcs) screws and washers. Washers: Steel 8.4x13x1.5 (24 pcs) xx1300000492 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 370 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 371: Replacing The Process Turning Disc

    Action Note Run the robot to a position most comfort- able for the removal of the process turning disc. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 372 IRB 6700 - 200/2.60, - 155/2.85. Remove the nine M10 screws and three washers, that secure the process turning disc. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 373 The design of the turning disc spare part might require replacement of the axis-6 synchronization mark plate if the existing plate is not compatible with the new turning disc. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 374 Use the holes closest to the synchronization Use the holes at the back end of the synchron- mark. ization plate. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 375 Secure the process turning disc with its Gleitmo 603 (24 pcs) attachment screws and washers. Washers: Steel 8.4x13x1.5 (24 pcs) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 376 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 377: Replacing The Lower Arm

    Note Lower arm See Product manual, spare parts - IRB 6700/IRB 6700Inv. Product manual, spare parts - IRB 6790 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 378 Guide pin, M12x150 3HAC13056-2 Always use guide pins in pairs. Guide pin, M12x200 3HAC13056-4 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 379 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 380 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 381 Remove the cover plate on the back of the balancing device. DANGER DO NOT remove any other screws than the rear cover attachment screws. xx1300000554 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 382 Preparations before removing the shaft in the link ear Action Note Jog axis-2 to the calibration position (if not already in this position). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 383 Fit the lifting accessory (chain) to the Lifting accessory (chain): 3HAC15556-1 shackle and raise to unload the weight. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 384 VK cover and pull it out. xx1200001278 Unscrew the attachment screw and washer. xx1200001279 • M16x70 quality steel 8.8-A3F Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 385 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 386 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Remove the wrist cover. xx1300002247 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 387 Remove the heat protection plates from the is installed on the robot. motor with the cabling still attached to the plate. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 388 Removing cable brackets Action Note Unscrew the screws that hold the bracket and let it hang free. xx1200001184 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 389 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 390 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 391 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 392 The motor shall be refitted in the same position. xx1300000656 Use caution and pull out the motor cables. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 393 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 394 Pull out the axis-6 motor cables by holding the cables with one hand at the motor and the other at the carrier. xx1300000666 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 395 If used, loosen the insert. xx1700000690 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 396 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx1300000557 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 397 The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx1300000543 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 398 Cable guide. xx1300000544 Cable fixing bracket. Remove the metal clamp on top of the arm house. xx1300000541 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 399 (This is not needed on variants IRB 6700 - 300/2.70, -245/3.00) xx1400002561 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 400 (chain) to an overhead crane (or similar) and then to the lifting eye in the arm house and in the wrist. xx1200001308 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 401 Leave one of the remaining attachment screws fitted, remove the other screws. xx1300000747 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 402 Lubricate the guide pins with some grease to make the upper arm slide better. xx1400002563 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 403 (chain), and make sure to place the chain the right way through the loops. xx1400002197 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 404 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 405 Note The screws are reached from outside the lower arm! xx1300000540 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 406 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the lower arm slide better. xx1300000788 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 407 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the lower arm slide better. xx1400002181 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 408 3110 Waxcoat. Recommended drying time is 24h.). CAUTION Keep the sealing surfaces clean from Mer- casol. xx1700001879 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 409 All lifting accessories used must be sized accordingly. Attach the lifting accessory to the lower arm. Wipe clean all contact surfaces. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 410 Fit one attachment screw in one of the up- per holes using it for security and lower the lifting accessory a little. xx1300000790 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 411 Securing the lower arm to the axis-2 gearbox - IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Action Note Lift the lower arm onto the guide pins and slide it into position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 412 Remove the guide pins and replace them with the remaining attachment screws. xx1400002181 Secure the remaining attachment screws. Tightening torque M16: 300 Nm Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 413 Lubricate the guide pins with some grease to make the upper arm slide better. xx1700000058 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 414 Attach the lifting accessories, if not already Attaching lifting accessories to the fitted. upper arm on page 228. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 415 IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 iii IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 416 3HAC067545-001 pins in the lower arm. Insert 22 of the 24 M12 screws and wash- ers. xx1300002246 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 417 Use the pinion to rotate the axis-3 gearbox 3HAC067547-001 to find the correct position for the guide 3HAC067545-001 pins in the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 418 Run the upper end of the cable harness up through the lower arm. xx1300000733 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 419 Note The screws are reached from the outside of the lower arm. xx1300000558 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 420 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 421 DressPack tube! Note Do not run the cable harness into the DressPack tube, if one is fitted! xx1400000356 xx1300000820 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 422 Refit the metal clamp axis-4 inside the arm tube. Note The screws are reached from outside the upper arm! xx1700000340 xx1700000339 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 423 DressPack cable package through the hole in the upper arm. xx1700000690 If used, refit the tube containing the DressPack into the insert. xx1400000092 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 424 Make sure the gasket is fitted cor- rectly • Use attachment screws made of stainless steel to fit the cover. xx1200000045 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 425 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 426 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 427 Tighten the inner screw. Make sure that the gasket is not damaged. Note Replace the gasket if damaged. xx1200001016 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 428 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 429 B motor. See Type A vs type B motors on page 819. xx1500001029 xx1300000489 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 430 Fit the heat protection plate with the Choose figure depending on which plate screws. is installed on the robot. Screws: M5x12. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 431 5 manually to +90°. xx1200001081 Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 432 Secure the cable bracket with its attach- ment screws. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 433 When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Refit the motor cover. xx1200001080 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 434 Choose figure depending on which plate is installed on the robot. xx1500001029 xx1300000489 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 435 Cable layout in the wrist with Type A mo- tors. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 436 Refit the bracket with the ball joint housing to the upper arm tube. • Refit the process turning disk. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 437 Refitting the front shaft of the balancing device Action Note Turn the power to the robot on temporarily. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 438 Apply Mercasol on the surfaces on the shaft and front ear. xx1400000368 A Front link ear B Shaft C Mercasol (red dotted lines) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 439 Secure the shaft with screw and washer. Tightening torque: 180 Nm xx1200001279 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 440 Remove the lifting accessory from the bal- ancing device. Refit the cable bracket (if not already refit- ted). xx1200001283 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 441 Remove the distance tool. xx0800000480 A Distance tool: 3HAC030662-001 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 442 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 443: Frame And Base

    1 Unload the balancing device. 2 Replace the spherical roller bearing. 3 Restore the balancing device. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 444 Used for removing and fitting shaft and bearings. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 445 The Distance tool is only used to keep the balancing device springs in a locked position, after they have been Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 446 Never remove or fit the Distance tool on a balancing device which can not be unloaded by the robot. There is a severe risk of personal injury. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 447 Remove the cover plate on the back of the balancing device. DANGER DO NOT remove any other screws then the rear cover attachment screws! xx1300000554 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 448 Preparations before removing the spherical roller bearing Action Note Jog axis-2 to the calibration position (if not already in this position). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 449 140 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 185 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 450 VK cover, as close as possible to the center of the VK cover and pull it out. xx1200001278 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 451 The numbers in the figure refers to the marked tool pieces respectively. Put down the balancing device and let it rest on the frame. xx1200001281 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 452 3HAC028920-001 with the radial sealing and washer. xx1300000840 A Spherical roller bearing B Radial sealing C Washer Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 453 Use a plastic mallet or similar on the Press tool J and refit the radial sealing. xx1300000777 Apply some grease on the surface for the bearing. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 454 Apply Locking liquid on the screws and Loctite 243, 3HAB7116-1 secure the end cover with the radial sealing ring. xx1300000774 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 455 Hydraulic press tool, balancing device (3HAC020902-001). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 456 Align the balancing device link ear with the hole in the lower arm. Note Verify that the link ear is correctly turned. xx1300000784 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 457 Hydraulic cylinder: 3HAC11731-1 Dismantle and mounting tool: 3HAC028920-001 xx1700002238 The item numbers refer to mark- ings on the tools. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 458 Refit the two screws and wipe clean from residual grease. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 459 Foundry Plus: Apply Mercasol in the hole for the locking screw. xx1400000372 Jog axis-2 to: • -30° or +30°. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 460 Screws: M10 quality 12.9. plate on the back of the balancing device. Tightening torque: 50 Nm. Flange sealant for conical fittings: Loctite 577. xx1300000554 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 461: Replacing The Balancing Device

    Note Balancing device See Product manual, spare parts - IRB 6700/IRB 6700Inv. Product manual, spare parts - IRB 6790 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 462 - Distance tool or Hydraulic press tool, balancing device. The situations when to use which tool are very different. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 463 Never remove or fit the Distance tool on a balancing device which can not be unloaded by the robot. There is a severe risk of personal injury. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 464 Remove the cover plate on the back of the balancing device. DANGER DO NOT remove any other screws than the rear cover attachment screws. xx1300000554 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 465 Preparations before removing the balancing device Action Note Jog axis-2 to the calibration position (if not already in this position). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 466 140 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 185 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 467 Lifting shackle: SA-10-8-NA1 xx1300000661 Fit the lifting accessory to the shackle and Lifting accessory (chain): 3HAC15556-1 raise to unload the weight. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 468 The cover can be reused if not damaged. xx1300000662 Vent hole for air pressure: xx1700002189 Wipe off any residual grease inside the re- cess. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 469 VK cover, as close as possible to the center of the VK cover and pull it out. xx1200001278 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 470 The numbers in the figure refers to the marked tool pieces respectively. Put down the balancing device and let it rest on the frame. xx1200001281 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 471 All lifting accessories used must be sized accordingly. Fit a lifting shackle to the balancing device. Lifting shackle: SA-10-8-NA1 xx1300000661 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 472 Apply a big screwdriver between the cradle and the balancing device, as shown in the figure when the shafts are refitted. xx1300000838 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 473 Apply Loctite 243 on the screws and secure M16x70 quality steel 12.9 Gleitmo 603 the shafts on both sides. Tightening torque: 280 Nm xx1300000663 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 474 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 475 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx1200001280 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 476 Secure the shaft with screw and washer. Tightening torque: 180 Nm xx1200001279 Fit the VK-cover. xx1200001278 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 477 Remove the lifting accessory from the bal- ancing device. Refit the cable bracket (if not already refit- ted). xx1200001283 Remove the locking screw (M16x120). xx1200001116 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 478 Screws: M10 quality 12.9. plate on the back of the balancing device. Tightening torque: 50 Nm. Flange sealant for conical fittings: Loctite 577. xx1300000554 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 479: Replacing The Rear Bearings On The Balancing Device

    Located at the cradle of the balancing device. 2 pcs required. Locking liquid 3HAB7116-1 Loctite 243 Grease 3HAB3537-1 Shell Gadus S2V220 AC Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 480 This is done in order to compress the bal- • -30° or +30° ancing device springs inside the balancing device before fitting the Distance tool. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 481 The balancing device is now unloaded. move the front shaft of the balancing device. Let the Distance tool stay fitted during the continued procedure. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 482 140 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 185 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 483 The procedure of removing the shaft end in the cradle is the same on both sides. Note Remove one shaft end at a time! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 484 Vent hole for air pressure: xx1700002189 Wipe off all residual grease inside the re- cess. Unscrew the attachment screw securing the shaft. xx1300000663 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 485 Refitting the shaft end and rear bearings Action Note Wipe clean all contact surfaces from resid- ual grease and other contamination inside the recess. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 486 Use caution and put sealing ring, radial sealing, spacer and groove ball bearing onto the shaft end manually. xx1300000830 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 487 Put the shaft end with the fitted parts, on the threaded bar. Manually press the shaft end into the cradle a little. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 488 Remove the press tool and the threaded bar. Fit the retaining ring bore. xx1700000343 Apply locking liquid on the attachment Loctite 243, 3HAB7116-1 screw. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 489 Remove the lifting accessories Action Note Remove the lifting accessories. Concluding procedure Action Note Refit the retaining ring bore. xx1300000664 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 490 (See figure). xx1300000832 Refit the screws. xx1300000833 Wipe clean from residual grease. Remove the Distance tool. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 491 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 492: Unloading The Balancing Device

    DANGER There is a high tensioned spring inside the balancing device, incorrect handling may cause injuries and damage property. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 493 To be used with the press tool. Hydraulic pump 80 MPa 3HAC13086-1 To be used with the hydraulic cylinder. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 494 DANGER DO NOT! remove any other screws then the rear cover attachment screws. xx1300000554 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 495 Unload the hydraulic cylinder. The hydraulic cylinder may now be removed from the tool, when necessary. CAUTION Do not remove the press tool! Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 496: Restoring The Balancing Device

    The press tool includes two press devices that are used to different models of the balancing device. xx0200000174 Press block Hydraulic cylinder Press device Bolt, press device Moving pin with marking Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 497 Press device bolts. Bolt, press device Moving pin with marking Bolt (4 pcs) Pin, attached to the fix plate Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 498 The rear cover of the balancing device is a safety device for the piston rod during operation! Make sure the cover is properly secured before commissioning of the ro- bot! Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 499: Replacing The Stop Pin

    Locking liquid 3HAB7116-1 Loctite 243 Foundry plus: 3HAC034903-001 Mercasol 3110 Waxcoat. Recom- mended drying time is 24h. Rust preventive Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 500 CAUTION The mechanical stop weighs 5 kg and may unexpectedly fall down when the set screw is removed. xx1300000476 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 501 Fit the stop pin. xx1300000477 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 502 4.6.6 Replacing the stop pin Continued Action Note Apply locking liquid on the set screw, and Loctite 243 secure the stop pin. Set screw: M10x20 xx1300000476 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 503: Motors

    Note Axis-1 motor See Product manual, spare parts - IRB 6700/IRB 6700Inv. Product manual, spare parts - IRB 6790 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 504 Required if Axis Calibration is the valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 505 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 506 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 507 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 508 - = pin 5 CAUTION The weight of the motor is 25 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 509 Use caution and lift the motor straight up Lifting accessory (chain): 3HAC15556-1 to get the pinion parted from the gear. Lifting accessory, motor: 3HAC14459-1. xx1200001072 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 510 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 511 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC14459-1. Fit the rotation tool. Rotation tool: 3HAB7887-1 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 512 Tightening torque: 50 Nm. Use a bits extender to reach the screws. Screws: M10x30 Steel 12.9 Gle 603+Geo500 (4 pcs) xx1200001071 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 513 Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 514 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 515 Foundry Plus: Secure the axis-1 and axis-2 motor cables with a cable tie. xx1400000722 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 516 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 517: Replacing The Axis-2 Motor

    Note Axis-2 motor See Product manual, spare parts - IRB 6700/IRB 6700Inv. Product manual, spare parts - IRB 6790 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 518 Required if Axis Calibration is the valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 519 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 520 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 521 Removing the axis-2 motor Action Note Before removing the motor, make sure that the axis-2 gearbox is completely drained. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 522 Disconnect the 24 VDC power supply. CAUTION The motor weighs 28 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 523 Wipe clean the contact surfaces and the o-ring groove. Check the o-ring. O-ring, 3HAB3772-107 Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 524 Securing the axis-2 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 525 Fit two of the attachment screws and Screws: M10x30 Steel 12.9 Gle washers. 603+Geo500 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 526 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 527 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 528 Remove the lock screw securing the lower Lock screw, M16x120 arm. xx1200001115 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 529 These are further described in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 530: Replacing The Axis-3 Motor

    The cross-section profile is either circular or hexagon. If only ordering the o-ring, order the same profile that is currently installed in the connection box. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 531 Read more about reference calibration for then reference calibration is not possible. Pendulum Calibration in Operating manu- al - Calibration Pendulum. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 532 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 533 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 534 Unscrew the attachment screws that hold Bits extender: 3HAC12342-1 the motor. Use a bits extender to reach the screws. xx1200001126 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 535 If not there is a risk of damaging the pinion and xx1200001125 gear. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 536 Wipe clean the contact surfaces and the o-ring groove. Check the o-ring. O-ring, 3HAB3772-107 Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 537 Use this procedure to secure the motor. Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 538 To release the brakes, connect the 24 VDC power supply. Connect to connector R2.MP3: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 539 Disconnect the 24 VDC power supply. Connecting the motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 540 O-ring, axis-3: 3HAB3772-111 (circular profile) / 3HAC054692-002 (hexagon pro- file) O-ring, axis-4: 3HAB3772-110 (circular profile) / 3HAC054692-001 (hexagon pro- file) xx1200001070 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 541 Calibrating with Axis Calibration method on page 798. General calibration information is included in section Calibration on page 787. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 542 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 543: Replacing The Axis-4 Motor

    The cross-section profile is either circular or hexagon. If only ordering the o-ring, order the same profile that is currently installed in the connection box. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 544 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 545 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 546 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 547 Removal tool M12: 3HAC057339-003 the removal tool in the remaining attach- Always use removal tools in pairs. ment holes for the motor. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 548 Wipe clean the contact surfaces and the o-ring groove. Check the o-ring. O-ring, 3HAB3772-107 Replace if damaged. xx1200001019 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 549 Action Note Apply two guide pins in opposite holes. Guide pin, M8x150: 3HAC15520-2 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 550 To release the brakes, connect the 24 VDC power supply. Connect to connector R2.MP2: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 551 Disconnect the 24 VDC power supply. Connecting the motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 552 O-ring, axis-3: 3HAB3772-111 (circular profile) / 3HAC054692-002 (hexagon pro- file) O-ring, axis-4: 3HAB3772-110 (circular profile) / 3HAC054692-001 (hexagon pro- file) xx1200001070 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 553 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 554: Replacing The Axis-5 Motor

    Removal tool M12 3HAC057339-003 Used to push out the motor, if neces- sary. Always use removal tools in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 555 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 556 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 557 If used, open the ball joint housing on the arm tube and remove the DressPack cable package. xx1400000206 Remove the wrist cover. xx1300002247 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 558 Remove the heat protection plates from the is installed on the robot. motor with the cabling still attached to the plate. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 559 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 560 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 561 If needed, fit removal tools in opposite Removal tool M12: 3HAC057339-003 holes. Always use removal tools in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 562 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 563 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 564 Remove the guide pins. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 565 Disconnect the 24 VDC power supply. Connecting the motor cables Action Note Push the motor cables in through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 566 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 567 B motor. See Type A vs type B motors on page 819. xx1500001029 xx1300000489 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 568 Fit the heat protection plate with the Choose figure depending on which plate screws. is installed on the robot. Screws: M5x12. xx1500001030 xx1300000490 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 569 A Protection plugs (2 on wrist cover and 2 on cover axis-5 gearbox) B Washers (10 pcs) in gasket holes Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 570 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 571: Replacing The Axis-6 Motor

    Information about which of the two types of gasket to choose is found in Product manual, spare parts - IRB 6700/IRB 6700Inv. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 572 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 573 • air pressure supply to the robot, before entering the robot working area. Remove the wrist cover. xx1300002247 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 574 Disconnect the motor cables. xx1300000488 Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 575 24 VDC power supply power supply. Connect to R2.MP6-connector: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 576 CAUTION The motor weighs 9 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 577 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 578 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 579 - = pin 5 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 580 Check the gasket. Replace if damaged. xx1200001094 CAUTION The motor weighs 9 kg. All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 581 Check that the gasket is fitted correctly. Screws: M8x25 Steel 8.8-A2F (4 pcs) Secure the motor with its attachment Tightening torque: 24 Nm screws. xx1200001090 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 582 Perform a leak-down test. Performing a leak-down test on page 198. Disconnect the 24 V DC power supply. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 583 Product manual, spare parts - IRB 6700/IRB 6700Inv. xx1200001095 Refit the motor cover. xx1200001082 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 584 A Protection plugs (2 on wrist cover and 2 on cover axis-5 gearbox) B Washers (10 pcs) in gasket holes Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 585 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 586: Gearboxes

    Replacing the axis-1 gearbox (IRB 6700 - 300/2.70, IRB 6700 - 245/3.00) on page 626. Location of the axis-1 gearbox The axis-1 gearbox is located as shown in the figure. xx1200001183 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 587 Oil dispenser One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 156. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 588 Required if Axis Calibration is the valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 829. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 589 DressPack can stay fitted for the time being. moved. Begin draining the axis-1 gearbox. Draining the axis-1 gearbox on page 159. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 590 Unscrew the attachment screws that secure the cable bracket. xx1200001184 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 591 Note Leave the outermost screw fitted as a safety precaution. xx1200001189 xx1200001185 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 592 Attaching the lifting accessories Use this procedure to attach the lifting accessories. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 593 Run a roundsling through the hole in the frame. Roundsling, 1.5 m: Length: 1.5 m. Lifting capacity: 2,000 kg. Attach the roundsling choked. See figure! xx1200001209 xx1400000730 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 594 Roundsling, 1 m: Length: 1 m, lift- the wrist. ing capacity: 1,000 kg. xx1200001236 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 595 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 596 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 597 - = pin 5 CAUTION The weight of the motor is 25 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 598 Use caution and lift the motor straight up Lifting accessory (chain): 3HAC15556-1 to get the pinion parted from the gear. Lifting accessory, motor: 3HAC14459-1. xx1200001072 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 599 Remove the base cover. xx1300000561 Disconnect connectors: • R1.MP • R1.SMB xx1300000591 If used, disconnect the DressPack hoses in the base. xx1400000366 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 600 If equipped with DressPack, pull out the DressPack cables through the protection tube and place them carefully over the balancing device. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 601 Lubricate the guide pins with some grease to make the frame slide better. xx1700001635 Guide pin, M16x200: 3HAC13120-3 xx1700001636 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 602 Removing the gearbox Action Note Remove the attachment screws and washers that secure the gearbox to the base. xx1200001186 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 603 92 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 140 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 604 Lift away the gearbox. WARNING When the gearbox is lifted, make sure not to damage the Pendulum Calibration bracket. xx1400001983 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 605 Wipe clean the contact surfaces on the base and the surfaces of the protection tube from any contamination. Put grease on the protection tube. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 606 92 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 140 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 607 Fit the o-ring in the groove of the gearbox. xx1200001244 Wipe clean the surfaces of the hole in axis-1 gearbox. xx1700002192 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 608 Remove the lifting accessory and the lifting eyes. Fit the attachment screws and washers. Tighten by hand. xx1200001186 Attachment screws: M12x90 (16 pcs) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 609 Wipe clean the contact surfaces from any remaining contamination. Apply flange sealant on the contact surface Flange sealant: 12340011-116 (Loctite 574) of the gearbox. xx1700002198 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 610 Lubricate the guide pins with some grease to make the frame slide better. xx1300000823 Guide pin, M16x150: 3HAC13120-2 xx1300000822 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 611 Remove old residues of flange sealant from the contact surfaces. Wipe clean the contact surfaces from any remaining contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 612 See figures for correct entering holes for the guide pins. xx1300000823 Position of Guide pin, M16x150: xx1300000822 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 613 Lower the arm system to align the other Position of Guide pin, M16x150: guide pin into the hole. xx1300000822 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 614 A Aligning tool B Attachment screws (2 pcs) C Correct fitting of the aligning tool. Tightening torque: 50 Nm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 615 Wipe clean the contact surfaces and the o-ring groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 616 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 617 - = pin 5 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 618 Perform a leak-down test (if not already Performing a leak-down test on done). page 198. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 619 Connect connectors R1.MP and R1.SMB. Tightening torque for R1.SMB: 10 Nm. xx1300000591 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 620 If used, fit the bracket that hold the DressPack to the frame. xx1400000078 If used, connect the DressPack cable package on the base plate. xx1200000052 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 621 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 622 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 623 Apply Mercasol on the surfaces shown in time is 24h.). the figure, on stop pin and in the hole as shown in the figure. xx1400000378 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 624 Calibrating with Axis Calibration method on page 798. General calibration information is included in section Calibration on page 787. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 625 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 626: Replacing The Axis-1 Gearbox (Irb 6700 - 300/2.70, Irb 6700 - 245/3.00)

    This is a brief summary of the replacement procedure, containing the major actions to be performed. 1 Drain the axis-1 gearbox. 2 Remove the cabling from the base. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 627 24 VDC power supply Used to release the motor brakes. Guide pin, M10x150 3HAC15521-2 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 628 Required documents Document name Document number Note Technical reference manual - Lubrication in 3HAC042927-001 gearboxes Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 629 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot work- ing area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 630 Foundry Plus. Cut the cable tie that hold the axis-1 and axis- 2 motor cables on the protection plates. xx1400000722 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 631 Axis 2: -45° • Axis 3: +65° • Axis 4: 0° • Axis 5: +80° • Axis 6: no significance xx1200001132 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 632 Fender washer. Outer diameter: minimum 26 mm, maximum 30 mm, hole diameter: 13 mm, thickness: 3 mm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 633 Use caution and jog axis-3 slowly to stretch the roundsling. Note Make sure the roundsling is stretched, so it can carry the weight of the frame. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 634 Unscrew the attachment screws and washers and remove the motor cover. xx1200001135 Make sure the o-ring is present. xx1200001070 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 635 - = pin 5 CAUTION The weight of the motor is 25 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 636 Use caution and lift the motor straight up Lifting accessory (chain): 3HAC15556-1 to get the pinion parted from the gear. Lifting accessory, motor: 3HAC14459-1. xx1200001072 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 637 Remove the base cover. xx1300000561 Disconnect connectors: • R1.MP • R1.SMB xx1300000591 If used, disconnect the DressPack hoses in the base. xx1400000366 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 638 If equipped with DressPack, pull out the DressPack cables through the protection tube and place them carefully over the balancing device. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 639 Lubricate the guide pins with some grease to make the frame slide better. xx1700000320 xx1700000321 Guide pin, M16x120: 3HAC062397-001 Always use guide pins in pairs. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 640 Do not change the position of the axes from the position de- scribed earlier. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 641 240 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 305 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 642 Lower the base and gearbox to the support legs and secure. xx1000000364 A Support legs: 3HAC15535-1. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 643 92 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 140 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 644 A new o-ring must be installed to the new gearbox. xx1700001378 Make sure that the o-ring between base and gearbox is not lost. xx1400002175 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 645 92 kg (IRB 6700 -235/2.65, -205/2.80, -175/3.05, -150/3.20, -200/2.60, -155/2.85) 140 kg (IRB 6700 -300/2.70, -245/3.00) All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 646 Clean the new o-ring, put some grease on it and place it in the groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 647 Note Do not use the new o-ring! xx1400002176 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 648 O-ring: 3HAB3772-97. xx1400002178 Lower the lifting accessory so that the chain is no longer stretched. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 649 Wipe the surfaces of the protection tube and the hole in axis-1 gearbox clean from any contamination. Put some grease on the protection tube. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 650 (8 pcs) 550 Nm (screws lubricated with Molykote 1000) 600-725 Nm, typical 650 Nm (screws none or lightly lubricated) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 651 3HAB3537-1. Install the new o-ring in the groove. Note A new o-ring also needs to be cleaned! xx1700000336 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 652 Make sure that all lifting accessories still is Attachment points of lifting accessory fitted correctly on the arm system. on page 212. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 653 Make sure that the complete arm system is lowered all the way down. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 654 Remove the guide pins and refit the two plastic protection plugs or the two M16 screws. xx1700000320 xx1700000321 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 655 Connect to R2.MP1-connector: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 656 Perform a leak-down test (if not already Performing a leak-down test on done). page 198. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 657 Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 658 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 659 • R1.MP • R1.SMB If necessary, lubricate the cables with grease to make them run more smoothly. xx1300000732 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 660 Make sure that the hoses are running cor- rectly and are not twisted! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 661 Apply Mercasol on the surfaces shown in the figure, on stop pin and in the hole as shown in the figure. xx1400000378 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 662 Secure the cable harness inside the frame hole with a cable strap. xx1200001237 Refit the cable bracket on the frame. xx1200001246 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 663 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 664: Replacing The Axis-2 Gearbox (Irb 6700 - 235/2.65, Irb 6700 - 205/2.80, Irb 6700 - 175/3.05, Irb 6700 - 150/3.20, Irb 6700 - 200/2.60, Irb 6700 - 155/2.85)

    Example 1: Position with space for pallets in front of the robot. Axis-1 in calibration position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 665 DressPack in base and frame first. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 666 Measure the groove to see dimension of the o- ring. VK cover 3HAA2166-28 VK 28x7 Locking liquid (Loctite 2701) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 667 Always use guide pins in pairs. Lifting accessory, gearbox 3HAC046112-001 3HAC046128-001 Hydraulic cylinder 3HAC11731-1 To be used with the press tool. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 668 Remove all external cable packages (DressPack) and tools from the robot. Removing the axis-2 gearbox Use these procedures to remove the gearbox. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 669 This is done in order to compress the bal- • -30° or +30° ancing device springs inside the balancing device before fitting the Distance tool. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 670 The balancing device is now unloaded. move the front shaft of the balancing device. Let the Distance tool stay fitted during the continued procedure. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 671 Lifting shackle: SA-10-8-NA1 xx1300000661 Fit the lifting accessory to the shackle and Lifting accessory (chain): 3HAC15556-1 raise to unload the weight. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 672 VK cover and pull it out. xx1200001278 Unscrew the attachment screw and washer. xx1200001279 • M16x70 quality steel 8.8-A3F Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 673 When jogging the axis-2 into position check that the balancing device ear and the ear on the lower arm is not colliding! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 674 All lifting accessories used must be sized accord- ingly! Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx1200001133 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 675 Note Make sure the roundsling is stretched, in order to carry the weight of the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 676 Move the DressPack cable package over to the other side of where the lifting accessory will be attached to the shackle on the arm house. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 677 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 678 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 679 - = pin 5 Remove the attachment screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx1200001117 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 680 Remove the motor by sliding it out on the Make sure the pinion is not damaged. guide pins and lift it off. xx1200001118 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 681 Note The screws are reached from outside the lower arm! xx1300000540 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 682 Remove all but one of the remaining attach- ment screws that secure the lower arm to the axis-2 gearbox. xx1300000789 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 683 DressPack. Use caution and lift the arm system and lay it down safely on the pallets. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 684 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85, IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Refitting the axis-2 gearbox Use these procedures to refit the gearbox. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 685 Lubricate the o-ring with some grease, for a better fitting in the groove. Fit the o-ring in the groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 686 Lift the gearbox and let it rest on the guide pins. Slide the gearbox into position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 687 Wipe clean the contact surfaces and the o-ring groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 688 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 689 Remove the lifting accessory and allow the motor to rest on the guide pins. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 690 Action Note Connect the 24 VDC power supply to the axis-2 motor to release the brakes of the motor. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 691 If the hole pattern is not matching, use the Rotation tool: 3HAB7887-1 rotation tool and adjust. xx1300000819 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 692 Remove the lifting accessories. Connecting the axis-2 motor cables Action Note Push the motor cables through the cable gland opening. xx1300000738 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 693 O-ring, axis-3: 3HAB3772-111 (circular profile) / 3HAC054692-002 (hexagon pro- file) O-ring, axis-4: 3HAB3772-110 (circular profile) / 3HAC054692-001 (hexagon pro- file) xx1200001070 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 694 Use this procedure to refit the cabling. Action Note Use caution and push the cable harness into the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 695 "IRB 6700 DressPack". housings on the lower arm and close For article number see References on the housings. page xx1400000195 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 696 Apply Mercasol on the surfaces on the shaft and front ear. xx1400000368 A Front link ear B Shaft C Mercasol (red dotted lines) Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 697 Secure the shaft with screw and washer. Tightening torque: 180 Nm xx1200001279 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 698 Remove the lifting accessory from the bal- ancing device. Refit the cable bracket (if not already refit- ted). xx1200001283 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 699 Remove the distance tool. xx0800000480 A Distance tool: 3HAC030662-001 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 700 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 701: Replacing The Axis-2 Gearbox (Irb 6700 - 300/2.70, Irb 6700 - 245/3.00)

    DressPack in base and frame first. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 702 One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 156. Lifting eye 3HAC16131-1 Lifting eye 3HAC14457-4 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 703 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85, IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Consumables Equipment, etc Article number Note Grease 3HAB3537-1 Used to lubricate o-rings. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 704 Remove all external cable packages (DressPack) and tools from the robot. Removing the axis-2 gearbox Use these procedures to remove the gearbox. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 705 This is done in order to compress the bal- • -30° or +30° ancing device springs inside the balancing device before fitting the Distance tool. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 706 The balancing device is now unloaded. move the front shaft of the balancing device. Let the Distance tool stay fitted during the continued procedure. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 707 Lifting shackle: SA-10-8-NA1 xx1300000661 Fit the lifting accessory to the shackle and Lifting accessory (chain): 3HAC15556-1 raise to unload the weight. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 708 VK cover and pull it out. xx1200001278 Unscrew the attachment screw and washer. xx1200001279 • M16x70 quality steel 8.8-A3F Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 709 When jogging the axis-2 into position check that the balancing device ear and the ear on the lower arm is not colliding! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 710 All lifting accessories used must be sized accord- ingly! Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 xx1400002106 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 711 Note Make sure the roundsling is stretched, in order to carry the weight of the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 712 To release the brake, connect the 24 VDC power supply. Connect to connector R2.MP2, axis-2 motor: • + = pin 2 • - = pin 5 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 713 Note The screws are reached from outside the lower arm. xx1300000540 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 714 Remove all but one of the remaining attach- ment screws that secure the lower arm to the axis-2 gearbox. xx1400002182 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 715 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 716 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 717 - = pin 5 Remove the attachment screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx1200001117 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 718 Remove the motor by sliding it out on the Make sure the pinion is not damaged. guide pins and lift it off. xx1200001118 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 719 CAUTION The gearbox weighs 110 kg. All lifting accessories used must be sized accordingly! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 720 When performing these procedures, the cable harness will still be fitted or partly fitted to the robot. Use the utmost caution not to cause any damage to the cable harness! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 721 Fit the o-ring in the groove. Foundry Plus: Apply Mercasol on the surfaces shown in the figure. xx1400000374 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 722 Lift the gearbox and let it rest on the guide pins. Slide the gearbox into position. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 723 IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85, IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 724 Make sure the o-ring is seated in the groove. Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 725 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 726 Fit two of the attachment screws and Screws: M10x30 Steel 12.9 Gle washers. 603+Geo500 Remove the guide pins and replace with the remaining attachment screws. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 727 The lower and upper arms together weigh 650 kg. All lifting accessories used must be sized accordingly! Apply the lifting accessories, if not already fitted. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 728 Fit one attachment screw in one of the up- per holes using it for security and lower the lifting accessory a little. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 729 Push the motor cables through the cable gland opening. xx1300000738 Refit the cable gland cover. Note Replace the gasket if damaged. xx1200001067 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 730 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 731 The screws are reached from the outside of the lower arm! xx1200001282 Refit the cable bracket on the frame. xx1200001283 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 732 Remove all residue of Loctite in the screw hole of the shaft. Wipe all contact surfaces inside the recess clean from contamination. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 733 Lubricate the shaft and place it to the front ear. Note Foundry Plus: Do not lubricate surfaces where Mercasol is ap- plied. xx1200001280 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 734 Secure the shaft with screw and washer. Tightening torque: 180 Nm xx1200001279 Fit the VK-cover. xx1200001278 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 735 • -30° or +30°. spring unit inside the balancing device be- fore refitting or removal of the distance tool. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 736 Note If the robot is equipped with DressPack, refit the brackets of the ball joint housings on the wrist. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 737 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 738: Replacing The Axis-3 Gearbox

    If unscrewed, the robot will be unstable. Location of the axis-3 gearbox The axis-3 gearbox is located as shown in the figure. xx1300000515 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 739 The cross-section profile is either circular or hexagon. If only ordering the o-ring, order the same profile that is currently installed in the connection box. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 740 IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 741 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 742 • hydraulic pressure supply • air pressure supply to the robot, before entering the robot working area. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 743 DressPack in the upper arm and wrist first. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 744 Make sure the o-ring is present. xx1200001070 Disconnect the motor cables. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 745 Unscrew the attachment screws that hold Bits extender: 3HAC12342-1 the motor. Use a bits extender to reach the screws. xx1200001126 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 746 If not there is a risk of damaging the pinion and xx1200001125 gear. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 747 Note The screw is reached from the outside of the lower arm! xx1800000042 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 748 Cut the cable tie at the cable fixing bracket. Note If DressPack is fitted, the cable fixing bracket is replaced by the cable guide. xx1300001973 xx1300000544 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 749 Secure the temporary position with a velcro strap or similar, to ensure it will not fall down or damage any- thing. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 750 (chain) to an overhead crane (or similar) and then to the lifting eye in the arm house and in the wrist. xx1200001308 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 751 Leave one of the remaining attachment screws fitted, remove the other screws. xx1300000747 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 752 Lubricate the guide pins with some grease to make the upper arm slide better. xx1400002563 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 753 (chain), and make sure to place the chain the right way through the loops. xx1400002197 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 754 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 755 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 xx1700000370 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 756 There is a risk that the gearbox may glide out and fall down before the lifting access- ory is applied, if pulled out to far. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 757 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 758 IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20 IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 iii IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 759 Secure the remaining attachment screws. Tightening torque: 120 Nm. Remove the lifting accessory. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 760 Action Note Secure the gearbox with 28 of the 30 attach- Tightening torque: 120 Nm ment screws. M12x70. xx1400002193 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 761 24h.) arm as shown in the figure. CAUTION Keep the sealing surfaces clean from Mer- casol. xx1700001880 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 762 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the upper arm slide better. xx1700000056 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 763 Insert all nine M16 screws and 25 of the 27 Screws: M12 screws. M16 (9 pcs) M12 (25 of 27 pcs) xx1400000359 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 764 Use the pinion to rotate the axis-3 gearbox 3HAC067547-001 to find the correct position for the guide 3HAC067545-001 pins in the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 765 Attaching lifting accessories to the fitted. upper arm on page 228. Lift the upper arm and bring it towards the lower arm. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 766 Wipe clean the contact surfaces and the o-ring groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 767 Lubricate the o-ring with some grease for a better fitting in the groove. xx1200001020 If the motor is a new spare part, remove the cover. xx1200001135 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 768 Apply the lifting accessories to the motor. Lifting accessory, motor: 3HAC15534-1 Note Make sure the cable gland exit is turned ac- cording to figure. xx1700000273 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 769 Remove the rotation tool. Perform a leak-down test. Performing a leak-down test on page 198. Disconnect the 24 VDC power supply. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 770 Fasten the cable bracket on top of the arm house. xx1300000541 Fasten the cable bracket under the arm house. xx1300000543 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 771 Refit the DressPack cable package into the ball joint housings on the lower arm and close them. xx1400000195 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 772 Replace the gasket if damaged. xx1200001067 Connect the motor cables. Connect in accordance with the markings on the connectors. xx1200001066 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 773 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 774 Fit the bracket of the DressPack cable package (if one is fitted) under the arm house with its screws. xx1200001332 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 775 These are further detailed in the section First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 776: Replacing The Axis-6 Gearbox

    3HAB3772-107 D=102x3 Used on motor flange. Gasket 3HAC033489-001/ Used on motor cover. 3HAC044252-001 O-ring 3HAB3772-58 D=151.99x3.53 Used on gearbox. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 777 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 778 Axis 3 = +20° • Axis 4 = 0° • Axis 5 = -55° • Axis 6 = -10° Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 779 - IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 Remove the screws and washers, that se- cure the turning disc. xx1300002302 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 780 M6x30 quality 12.9 Gleitmo, 24 pcs (IRB 6700 -200/2.60, -155/2.85) • M8x50 quality 12.9 Gleitmo, 16 pcs (IRB 6700 -300/2.70, -245/3.00) xx1700001600 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 781 Check the o-ring. Replace if damaged. Wipe clean the contact surfaces from any contamination. Also wipe clean the o-ring groove. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 782 Fit the gearbox to the wrist. CAUTION Be careful not to damage motor pinion or gears! xx1700001601 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 783 Foundry Plus: Apply Mercasol on the surfaces on turning disc and axis-6 gearbox as shown in the figure. xx1400000385 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 784 Secure the turning disc with its attachment Attachment screws: M10x25, Steel 12.9 screws and washers. Gleitmo 603, (21 pcs) Washers: Steel 11x17x25 (21 pcs) xx1400002195 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 785 Make sure all safety requirements are met when performing the first test run. These are further described in First test run may cause injury or damage on page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 786 This page is intentionally left blank...

  • Page 787: Calibration

    A calibration routine to make a rough calibration of each manipulator axis. Synchronization mark Visual marks on the robot axes. When marks are aligned, the robot is in synchronization position. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 788: Calibration Methods

    FlexPendant. If no data is found related to standard calibration, Calibration Pendulum is used as default. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 789 Brief description of calibration methods Calibration Pendulum method Calibration Pendulum is a standard calibration method for calibration of all ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S). Two different routines are available for the Calibration Pendulum method: •...

  • Page 790: When To Calibrate

    The resolver values are changed If resolver values are changed, the robot must be recalibrated 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 791: Synchronization Marks And Axis Movement Directions

    Synchronization marks, IRB 6700 Axis 1 Axis 2 xx1300000868 xx1300000869 Axis 3 Axis 4 xx1300000870 xx1300000871 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 792 5 Calibration 5.2.1 Synchronization marks and synchronization position for axes Continued Axis 5 Axis 6 Two variants of synchronization mark plates. xx1300000872 xx1300000873 xx1500000845 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 793: Calibration Movement Directions For All Axes

    Note! The graphic shows an IRB 7600. The positive direction is the same for all 6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the opposite direction! xx0200000089 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 794: Updating Revolution Counters

    (try both directions, if needed). Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 795 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 796 Tap Manual Method (Advanced). xx1500000944 A screen is displayed, tap Rev. Counters. en0400000771 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 797 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 811. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 798: 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 799 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 800: 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 801 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 802: Installation Locations For The Calibration Tools

    Replace damaged parts with new, if needed. Spare part Article number Note Protection cover and plug set 3HAC056806-001 Contains replacement calibration pin covers and protective plugs for the bushing. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 803: 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 804 Use this procedure to call for the Axis Calibration method on the FlexPendant. Action Note On the ABB menu, tap Calibration. xx1500000942 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 805 The three-position enabling device on the Press and hold the three-position enabling FlexPendant has been released during robot device and press Play. movement. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 806 Confirm unsynchronized state by pressing Ac- knowledge to continue Axis Calibration proced- ure. Restart Axis Calibration procedure by pressing Play. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 807 (anytime). xx1500002482 Press OK to continue Axis Calibration procedure. Restart Axis Calibration procedure by pressing Play. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 808 Ensure that the sealing is not damaged. Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: 3HAC056806-001. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 809: Calibrating With Calibration Pendulum Method

    Where to find information for Calibration Pendulum Detailed instructions of how to perform Pendulum Calibration are given in the documentation enclosed with the calibration tools. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 810: 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. Remove any calibration equipment from the robot. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 811: Checking The Synchronization Position

    If they do not, up- ization position for axes on page 791 date the revolution counters. Updating revolution counters on page 794. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 812 This page is intentionally left blank...

  • Page 813: Decommissioning

    Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 814 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 815: Scrapping Of Robot

    • When motors are removed from the robot, the robot will collapse if it is not properly supported before the motor is removed. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 816: Decommissioning Of Balancing Device

    The following procedure contains useful information about decommissioning. Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 817 Outer spring: cut at least five coils! • Middle spring: cut at least four coils! • Inner spring: cut at least four coils! Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 818 Double-check the number of coils cut and make sure all the tension in the springs is removed. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 819: Robot Description

    Use the table to identify which type of motor is installed on each robot axis by article number. The article numbers specified are found in WebConfig. Contact ABB Service for further assistance regarding which motor type is installed on the robot, if needed.
  • Page 820 A type B motor does not fit a wrist that is manu- that is manufactured in and factured before October 2015. after October 2015. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 821: Reference Information

    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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 822: Applicable Standards

    Terminology and general principles EN 574:1996 + A1:2008 Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 823 Safety requirements for industrial robots and robot systems ANSI/UL 1740 Safety standard for robots and robotic equipment CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require- ments Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 824: Unit Conversion

    2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 825: Screw Joints

    UNBRAKO screws UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It features special surface treatment (Gleitmo as described below) and is extremely resistant to fatigue.
  • Page 826 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 827 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque Nm - Tightening torque Nm - Tightening torque Nm - Nominal Min. Max. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 828: 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 829: 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 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 830: Special Tools

    Standard toolkit on page 829, and of special tools, listed directly in the instructions and also gathered in this section. Special tools Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 831 3HAC046112-001 Lifting accessory, gearbox 3HAC046128-001 3HAC046128-001 3HACxx Lifting accessory, gearbox 3HAC046112-001 Lifting eye 3HAC16131-1 xx1200001242 Lifting eye 3HAC14457-4 xx1200001242 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 832 Distance tool xx1400000726 3HAC11731-1 Hydraulic cylinder 3HAC13086-1 Hydraulic pump 80 MPa Threaded bar, M16x340 Removal tools ScrewsM8x75, fully threaded Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 833 Guide for reduction gear xx1700002195 Leak-down tester Lock screw, M16x120 Oil collecting vessel Oil dispenser Pallet 3HAC067546-001 3HAC067547-001 Pinion 3HAC067545-001 xx1800001147 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 834 IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700 - 175/3.05, IRB 6700 - 150/3.20 xi IRB 6700 - 200/2.60, IRB 6700 - 155/2.85 xii IRB 6700 - 300/2.70, IRB 6700 - 245/3.00 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 835: Lifting Accessories And Lifting Instructions

    This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 836 This page is intentionally left blank...

  • Page 837: Spare Parts

    Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.mypo- rtal.abb.com. Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 838 This page is intentionally left blank...

  • Page 839: Circuit Diagrams

    3HAC8935-1 Circuit diagram - IRB 6600 type A 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 6600 type B 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 840 Circuit diagram - IRB 6700 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - Product.ProductName 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.

  • Page 841: Index

    492 base plate damage to additional mechanical stop, 148 guide pins, 69 damage to mechanical stop, 146 securing, 69 dampers batteries inspection, 152 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 842 2 holes for equipment, 88 replacing, 517 HRA, 18 axis 3 humidity replacing, 530 operation, 51 axis 4 storage, 51 replacing, 543 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 843 33 axis-3 gearbox, 738 service work, 23 axis-3 motor, 530 voltage, 29 axis-2 gearbox, 664 safety signals axis-2 motor, 517 in manual, 38 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 844 340 temperatures operation, 51 replacing, 67 storage, 51 testing brakes, 34 zero position three-position enabling device, 28 checking, 811 torques on foundation, 49 Product manual - IRB 6700 3HAC044266-001 Revision: N © Copyright 2013 - 2018 ABB. All rights reserved.
  • Page 846 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2013 - 2018 ABB. All rights reserved. Specifications subject to change without notice.

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