ABB IRB 5720, Product Manual

Page: 544 / 610

Note Article number Consumable
See Type of lubrication in gear-
boxes on page 141 .
- Lubricating oil
Replace if damaged. 3HAC061327-070 O-ring
Replace if damaged. IRB 5720-180/2.6 ,
IRB 5720-155/2.6
LID
:
3HAC074482-001
IRB 5720-125/3.0 ,
IRB 5720-90/3.0 LID :
3HAC071520-001
Gasket, tilt housing cover
Used on oil plug. Always replace
when refitting oil plug. 3HACxxx O-ring
Required tools and equipment
Note Article number Equipment
User instructions are enclosed
with the tool. 3HAC081310-001 Brake release tool
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot. 3HAC074564-001
(axes 1, 2, 3 and 4)
3HAC074119-001
(axes 5 and 6) Calibration toolbox, Axis Calibra-
tion
Content is defined in section
Standard toolkit on page 596 .
- Standard toolkit
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
Note Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
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.
Continues on next page
544 Product manual - IRB 5720
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.9.4 Replacing the axis-6 gearbox
Continued