ABB IRB 5720 - Page 539

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NoteAction

Tightening torque: 1 Nm

xx2100000667

Secure the power connector with a screw.4

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Product manual - IRB 5720 539

3HAC079195-001 Revision: A

5 Repair

5.9.3 Replacing the axis-3 gearbox

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Table of Contents5
Overview of this Manual9
Product Documentation11
How to Read the Product Manual13
Safety15
Safety Information15
Limitation of Liability15
Requirements on Personnel16
Safety Signals and Symbols17
Safety Signals in the Manual17
Safety Symbols on Manipulator Labels19
Robot Stopping Functions25
Safety During Installation and Commissioning26
Safety During Operation28
Safety During Maintenance and Repair29
Emergency Release of the Robot Axes32
Brake Testing33
Safety During Troubleshooting34
Safety During Decommissioning35
Technical Data37
Working Range41
The Unit Is Sensitive to ESD52
Installation and Commissioning53
Introduction to Installation and Commissioning53
Unpacking54
Pre-Installation Procedure54
Risk of Tipping/Stability55
On-Site Installation56
Brief Installation Procedure56
Installing a Base Plate57
Lifting the Robot64
Lifting the Robot with Fork Lift64
Lifting and Rotating a Suspended Mounted Manipulator65
Lifting the Robot with Roundslings66
Orienting and Securing the Robot71
Manually Releasing the Brakes75
Setting the System Parameters for an Inverted or a Tilted Robot77
Loads Fitted to the Robot, Stopping Time and Braking Distances79
Fitting Equipment on the Robot (Robot Dimensions)80
Working Range Alterations91
Adjusting the Working Range91
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)92
Extended Working Range, Axis 1 (Option)95
Electrical Connections97
Robot Cabling and Connection Points97
Test Run after Installation, Maintenance, or Repair100
Maintenance101
Introduction101
Maintenance Schedule and Expected Component Life102
Specification of Maintenance Intervals102
Maintenance Schedule103
Expected Component Life105
Inspection Activities106
Inspecting the Motor Seal106
Inspecting the Information Labels108
Inspecting the Dampers111
Inspecting the Axis-1 Mechanical Stop113
Inspecting the Cable Harness115
Inspecting the Oil Level in Axis-1 Gearbox117
Inspecting the Oil Level in Axis-2 Gearbox123
Inspecting the Oil Level in Axis-3 Gearbox127
Inspecting the Oil Level in Axis-4 Gearbox131
Inspecting the Oil Level in Axis-5 Gearbox134
Inspecting the Oil Level in Axis-6 Gearbox137
Replacement/Changing Activities141
Type of Lubrication in Gearboxes141
Changing the Oil in Axis-1 Gearbox143
Changing the Oil in Axis-2 Gearbox154
Changing the Oil in Axis-3 Gearbox160
Changing the Oil in Axis-4 Gearbox165
Changing the Oil in Axis-5 Gearbox170
Changing the Oil in Axis-6 Gearbox175
Replacing the SMB Battery180
Cleaning Activities183
Cleaning the IRB 5720183
Repair187
Introduction187
General Procedures188
Performing a Leak-Down Test188
Mounting Instructions for Bearings189
Mounting Instructions for Sealings191
Cut the Paint or Surface on the Robot before Replacing Parts194
Lifting Procedures195
Lifting down the Manipulator from Inverted to Floor-Standing Position195
Axes 1 and 2198
Replacing the Axis-1 Cassette Sealing198
Axes 3 and 4213
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing213
Wrist238
Replacing the Wrist238
Replacing the Turning Disc255
Electronic Parts260
Removing the Cable Harness260
Refitting the Cable Harness280
Replacing the Brake Release Unit306
Replacing the SMB Unit313
Motors319
Replacing the Axis-1 Motor319
Replacing the Axis-2 Motor340
Replacing the Axis-3 Motor357
Replacing the Axis-4 Motor370
Replacing the Axis-5 Motor385
Replacing the Axis-6 Motor399
Gears415
Replacing the Axis-1 Gearbox415
Replacing the Axis-2 Gearbox469
Replacing the Axis-3 Gearbox506
Replacing the Axis-6 Gearbox543
Introduction to Calibration557
Introduction and Calibration Terminology557
Calibration Methods558
When to Calibrate560
Synchronization Marks and Axis Movement Directions561
Synchronization Marks and Synchronization Position for Axes561
Calibration Movement Directions for All Axes562
Updating Revolution Counters563
Updating Revolution Counters on Omnicore Robots563
Calibrating with Axis Calibration Method565
Description of Axis Calibration565
Calibration Tools for Axis Calibration568
Installation Locations for the Calibration Tools570
Axis Calibration - Running the Calibration Procedure572
Reference Calibration576
Verifying the Calibration578
Checking the Synchronization Position579
Troubleshooting581
Introduction to Troubleshooting581
Oil and Grease Stains on Motors and Gearboxes583
Mechanical Noise or Dissonance584
Manipulator Collapses on Power down586
Decommissioning587
Environmental Information587
Reference Information589
Introduction589
Applicable Standards590
Unit Conversion591
Screw Joints592
Weight Specifications595
Standard Toolkit596
Special Tools597
Lifting Accessories and Lifting Instructions603
Index605

ABB IRB 5720 - Page 539

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