ABB IRB 5720, Product Manual

Page: 473 / 610

Note Action
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values. If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
Reference calibration
routine on page 566 . If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the gearbox
Use these procedures to remove the gearbox.
CAUTION
When performing these procedures, the cable harness will still be fitted or partly
fitted to the robot. Use extreme caution not to cause any damage to the cable
harness.
Lifting down the robot from inverted position
Note Action
Suitable screws, lightly lubricated:
DANGER
The robot must always be secured to the founda-
tion if any kind of repair or maintenance work is
to be performed.
For some repair work support legs are required.
1
M24 x 100 (min. 4 pcs)
For hole configuration, see
Hole
configuration, base on page 74 .
DressPack can stay fitted. Remove any payload and tools from the robot. 2
Continues on next page
Product manual - IRB 5720 473
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.9.2 Replacing the axis-2 gearbox
Continued