ABB IRB 5720 - Page 545

NoteAction
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 axis-6 gearbox.
Preparations before removing the axis-6 gearbox
NoteAction
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
2
See Draining the axis-6 gearbox on
page 176.
Drain the gearbox.3
Remove all equipment fitted on the turning
disc.
4
Floor-mounted robot:5
Jog the robot into position:
• Axis 1 = no significance
• Axis 2 = suitable working position to
replace axis-6 gearbox (for example:
+25°)
• Axis 3 = suitable working position to
replace axis-6 gearbox (for example:
+20°)
• Axis 4 = 0°
• Axis 5 = -55°
• Axis 6 = 0°
Option Inverted (3317-1)6
Jog the robot into position:
• Axis 1 = no significance
• Axis 2 = suitable working position to
replace axis-6 gearbox
• Axis 3 = suitable working position to
replace axis-6 gearbox
• Axis 4 = 0°
• Axis 5 = +55°
• Axis 6 = 0°
Continues on next page
Product manual - IRB 5720 545
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.9.4 Replacing the axis-6 gearbox
Continued