ABB IRB 5720 Product Manual page 544

5 Repair
5.9.4 Replacing the axis-6 gearbox
Continued
Consumable
Lubricating oil
O-ring
Gasket, tilt housing cover
O-ring
Required tools and equipment
Equipment
Brake release tool
Calibration toolbox, Axis Calibra-
tion
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.
1
Continues on next page
544
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.
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.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
© Copyright 2022 ABB. All rights reserved.
Article number Note
- See
boxes on page
3HAC061327-070 Replace if damaged.
IRB 5720-180/2.6, Replace if damaged.
IRB 5720-155/2.6
LID:
3HAC074482-001
IRB 5720-125/3.0,
IRB 5720-90/3.0 LID:
3HAC071520-001
3HACxxx Used on oil plug. Always replace
when refitting oil plug.
Article number Note
3HAC081310-001 User instructions are enclosed
with the tool.
3HAC074564-001 Delivered as a set of calibration
(axes 1, 2, 3 and 4) tools.
3HAC074119-001 Required if Axis Calibration is the
(axes 5 and 6) valid calibration method for the
robot.
- Content is defined in section
Standard toolkit on page
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Type of lubrication in gear-
141.
596.
Reference calibration
566.
Product manual - IRB 5720
3HAC079195-001 Revision: A