ABB IRB 5720 Product Manual
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ABB IRB 5720 Product Manual

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Table of Contents

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IRB 5720

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Summary of Contents for ABB IRB 5720

  • Page 1 ROBOTICS Product manual IRB 5720...
  • Page 2 Trace back information: Workspace 22A version a18 Checked in 2022-03-17 Skribenta version 5.5.019...
  • Page 3 Product manual IRB 5720 OmniCore Document ID: 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Robot cabling and connection points ............Test run after installation, maintenance, or repair ............ Maintenance Introduction ...................... Maintenance schedule and expected component life ..........4.2.1 Specification of maintenance intervals ............Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 6 Gears ......................5.9.1 Replacing the axis-1 gearbox ..............5.9.2 Replacing the axis-2 gearbox ..............5.9.3 Replacing the axis-3 gearbox ..............5.9.4 Replacing the axis-6 gearbox ..............Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 7 Applicable standards ..................Unit conversion ....................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Index Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...

  • Page 9: Overview Of This Manual

    Standard • Foundry Plus Product manual scope The manual covers all variants and designs of the IRB 5720. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
  • Page 10 Circuit diagram - IRB 5710/IRB 5720 3HAC080367-001 Technical reference manual - System parameters 3HAC065041-001 Operating manual - Service Information System 3HAC050944-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. Product manual - IRB 5720 3HAC079195-001 Revision: A ©...

  • Page 11: Product Documentation

    Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
  • Page 12 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 13: How To Read The Product Manual

    Likewise, certain work methods or general information that is valid for several product models, can be illustrated with illustrations that show a different product model than the one that is described in the current manual. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 14 This page is intentionally left blank...

  • Page 15: Safety

    The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.

  • Page 16: Requirements On Personnel

    The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the instructions. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 17: Safety Signals And Symbols

    NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 18 1.2.1 Safety signals in the manual Continued Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 19: Safety Symbols On Manipulator Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 20 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 21 Tip risk when loosening bolts The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 22 Moving robot The robot can move unexpectedly when floor standing. Always use transportation lock screw in floor standing position. xx1700000813 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 23 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 24 Shut off with handle Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 25: Robot Stopping Functions

    1.3 Robot stopping functions Protective stop and emergency stop The protective stops and emergency stops are described in the product manual for the controller. For more information see: Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 26: Safety During Installation And Commissioning

    When the robot is installed at a height, hanging, or other than mounted directly on the floor, there will be additional hazards. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 27 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 28: Safety During Operation

    Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 29: Safety During Maintenance And Repair

    90 °C. Hot oil or grease Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 30 Hazards related to batteries Under rated conditions, the electrode materials and liquid electrolyte in the batteries are sealed and not exposed to the outside. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 31 WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Related information See also the safety information related to installation and operation. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 32: Emergency Release Of The Robot Axes

    When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 33: Brake Testing

    For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 34: Safety During Troubleshooting

    The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.

  • Page 35: Safety During Decommissioning

    Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. A robot may perform unexpected limited movement. WARNING Manipulator movements can cause serious injuries on users and may damage equipment. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 36 This page is intentionally left blank...

  • Page 37: Technical Data

    The illustration shows the directions of the robots stress forces. The directions are valid for all floor mounted, tilted and inverted robots. Torque Force Force Torque xx2100002622 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 38 11.5 ±14.1 kN Torque xy ±21.2 kNm ±35.1 kNm Torque z ±5 kNm ±11.4 kNm Note Values valid for maximum tilted robot. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 39 Operating conditions, robot The table shows the allowed operating conditions for the robot: Parameter Value Minimum ambient temperature 5°C Maximum ambient temperature 50°C Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 40 Environmental information The product complies with IEC 63000. Technical documentation for the assessment of electrical and electronic products with respect to the restriction of hazardous substances. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 41: Working Range

    2.2 Working range Illustration, working range IRB 5720-180/2.6 This illustration shows the unrestricted working range of the robot. 1147 1922 2600 xx2100002338 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 42 2 Technical data 2.2 Working range Continued IRB 5720-180/2.6 inverted (with option 3317-1) 1922 2600 1147 xx2100002580 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 43 Continued Illustration, working range IRB 5720-125/3.0 This illustration shows the unrestricted working range of the robot. 1480 1085 2322 3000 xx2100002343 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 44 2 Technical data 2.2 Working range Continued IRB 5720-125/3.0 inverted (with option 3317-1) 2322 3000 1480 1085 xx2100002607 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 45 2 Technical data 2.2 Working range Continued Illustration, working range IRB 5720-155/2.6 LID This illustration shows the unrestricted working range of the robot. 1428 1922 2600 xx2100002342 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 46 2 Technical data 2.2 Working range Continued IRB 5720-155/2.6 LID inverted (with option 3317-1) 1922 2600 1428 xx2100002618 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 47 2 Technical data 2.2 Working range Continued Illustration, working range IRB 5720-90/3.0 LID This illustration shows the unrestricted working range of the robot. 1790 1085 2322 3000 xx2100002339 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A...
  • Page 48 2 Technical data 2.2 Working range Continued IRB 5720-90/3.0 LID inverted (with option 3317-1) 2322 3000 1790 1085 xx2100002619 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 49 2 Technical data 2.2 Working range Continued Top view of working range IRB 5720-180/2.6, IRB 5720-155/2.6 LID xx2100002341 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 50 1 (option) on page Axis 2 -75°/+145° Axis 3 -180°/+70° (IRB 5720-180/2.6, IRB 5720-125/3.0) -160°/+70° (IRB 5720-155/2.6 LID, IRB 5720-90/3.0 LID) Axis 4 ±300° Axis 5 ±130° (IRB 5720-180/2.6, IRB 5720-125/3.0) ±120° (IRB 5720-155/2.6 LID, IRB 5720-90/3.0 LID)
  • Page 51 Working range Note Axis 6 ±360° (IRB 5720-180/2.6, IRB 5720-125/3.0) ±200° (IRB 5720-155/2.6 LID, IRB 5720-90/3.0 LID) Option Extended Working Range Axis 1 (3324-1) Not valid for option Inverted (3317-1) Not valid with DressPack. Maximum combined movements reduced. Product manual - IRB 5720 3HAC079195-001 Revision: A ©...

  • Page 52: The Unit Is Sensitive To Esd

    The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 53: Installation And Commissioning

    Read the chapter Safety on page 15 before performing any installation work. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 54: Unpacking

    It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • Be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work. • Conform to all national and local codes.

  • Page 55: Risk Of Tipping/Stability

    This figure shows the robot in its shipping position and transportation position. 626 ±55 xx2100000477 WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 56: On-Site Installation

    Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the IRB 5720. Action Note Transport the manipulator to its intended location.

  • Page 57: Installing A Base Plate

    Note Do not use a base plate for installation of an inverted robot. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 58 Guide pins on page 60 E, F, G, H Common tolerance zone (accuracy all over the base plate from one contact surface to the other) Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 59 3 Installation and commissioning 3.3.2 Installing a base plate Continued 2x R22,5 3x 90° xx1500000247 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 60 Cylindrical guide pin (x2) Assembly of guide pins Description Cylindrical guide pin (x2) M5 x 40. Tightening torque 6 Nm. (x2) Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 61 The illustration below shows the orienting grooves and attachment holes for leveling bolts in the base plate. xx1500000312 Orienting grooves (3 pcs) Levelling bolts, attachment holes (4 pcs) Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 62 Locating pins (2 pcs) Base plate, guide sleeve holes The illustration below shows the guide sleeve holes in the base plate. xx0300000045 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 63 0.3 mm. If it is not, use pieces of sheet metal or similar to bring the base plate to a levelled position. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 64: Lifting The Robot

    - written by UserDoc xxx Lifting the robot Action Note Lift the robot according to the user instructions enclosed with the fork lift accessory. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 65: Lifting And Rotating A Suspended Mounted Manipulator

    597. Any additional equipment required is specified in the instruction for the lifting accessory. Contact ABB for more information. How to lift and turn the robot into position for tilted position: Contact ABB for more information. Illustration xx2100002608...

  • Page 66: Lifting The Robot With Roundslings

    The robot can also be lifted with roundslings as detailed in this section. Illustration - lifting position This figure shows the robot in its lifting and transportation position. 626 ±55 xx2100000477 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 67 Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 68 3 Installation and commissioning 3.3.3.3 Lifting the robot with roundslings Continued CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 kg) IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060 kg)
  • Page 69 Fit the roundsling with slack. They prevent the robot from rotating if there is a sudden stop during transport. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 70 3.3.3.3 Lifting the robot with roundslings Continued Action Note WARNING Personnel must not, under any circumstances, be present under the suspended load. Raise the overhead crane to lift the robot. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 71: Orienting And Securing The Robot

    If using a base plate: fit two guide sleeves to the guide sleeve holes in the base plate. See Base plate, guide sleeve holes on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 72 Continued Action Note CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060 kg) All lifting accessories used must be sized accord- ingly.
  • Page 73 (screws none or lightly lubricated) Tighten bolts in a crosswise pattern to ensure that the base is not distorted. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 74 0,3 A C 0,4 A C L Axis 1 SECTION K-K 25 H8 0.12 0.3 A 0.3 B SECTION L-L 45 H8 0.12 0.3 A xx2100000788 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 75: Manually Releasing The Brakes

    If the robot is not connected to the controller, power must be supplied to the connector R1.MP according to the section Supplying power to connector R1.MP on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 76 If they are mixed up, damage can be caused to internal electrical components. xx0600002937 Use the brake releasing button as described in Releasing the brakes on page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 77: Setting The System Parameters For An Inverted Or A Tilted Robot

    The value is set in radians. Gamma Rotation Gamma Rotation defines the orientation of the robot foot on the travel carriage (track motion). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 78 Robot, in the topic Motion. The system parameters are described in Technical reference manual - System parameters. The system parameters are configured in RobotStudio or on the FlexPendant. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 79: Loads Fitted To The Robot, Stopping Time And Braking Distances

    The performance of the motor brake depends on if there are any loads attached to the robot. See Product specification - Robot stopping distances according to ISO 10218-1. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 80: Fitting Equipment On The Robot (Robot Dimensions)

    1142.5 C L Axis 3 C L Axis 5 C L Axis 1 C L Axis 2 1023 388 296 xx2100000796 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 81 IRB 5720-125/3.0 2008.5 1547.5 C L Axis 3 C L Axis 5 C L Axis 1 C L Axis 2 1023 xx2100000797 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 82 1142.5 C L Axis 3 C L Axis 5 C L Axis 1 C L Axis 2 1023 388 296 xx2100000798 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 83 IRB 5720-90/3.0 LID 2008.5 1547.5 C L Axis 3 C L Axis 5 C L Axis 1 C L Axis 2 1023 xx2100000799 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 84 R is the radius (m) from the center of axis 1 • M4 is the total mass (kg) of the equipment including bracket and harness (≤ 250 kg) xx2100000824 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 85 M1 ≤ 20 kg with a distance (a) ≤ 500 mm from the center of gravity in the axis-3 extension. xx2100000822 Mass center xx2100000823 Center of gravity in the axis-3 extension Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 86 2x M8 12 2x M8 16 C L Axis 5 xx2100002378 Smallest circumscribed radius axis 3 Smallest circumscribed radius axis 4 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 87 2x M8 12 79.5 2x M8 16 C L Axis 5 xx2100002379 Smallest circumscribed radius axis 3 Smallest circumscribed radius axis 4 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 88 C L Axis 2 C L Axis 1 xx2100002380 Allowed positions for attachment holes. 4x M12 through. Avoid damaging cables when drilling. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 89 2x M10 20.1 H10 C L Axis 1 2x M6 (2x) 3x M16 (2x) 3x M16 10.2 H7 10.2 12.2 xx2100000812 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 90 When fitting tools on the tool flange, only use screws with quality 12.9. For other equipment use suitable screws and tightening torque for your application. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 91: Working Range Alterations

    Part of the casting or fixed on the casting and can not /should not be removed. Can be installed in one or more than one position, to ensure a reduced working range, or be removed to allow extended working range. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 92: Installing Movable Mechanical Stops On Axis 1 (Option 3323-1)

    If the mechanical stop pin is deformed after a hard collision, it must be replaced! Deformed movable stops and/or additional stops as well as deformed attachment screws must also be replaced after a hard collision. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 93 Need to drill and make threaded M12 holes in base. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 94 Technical reference manual - System parameters. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 95: Extended Working Range, Axis 1 (Option)

    220 degrees. Related information The system parameters are described in detail in the reference manual, see References on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 96 3 Installation and commissioning 3.4.3 Extended working range, axis 1 (option) Continued For more information about SafeMove, see Application manual - Functional safety and SafeMove. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 97: Electrical Connections

    Robot cable, power Power cable length Article number Power cable 7 m 3HAC026787-001 Power cable 15 m 3HAC026787-002 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 98 Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 99 There is a grounding/bonding point on the manipulator base. The grounding/bonding point is used for potential equalizing between control cabinet, manipulator and any peripheral devices. xx2100000853 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 100: Test Run After Installation, Maintenance, Or Repair

    Verify the application in the operating mode manual reduced speed. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before initiating motion. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 101: Maintenance

    The maintenance must be done by qualified personnel in accordance with the safety requirements set forth in the applicable national and regional standards and regulations. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 102: Maintenance Schedule And Expected Component Life

    4.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 5720: • Calendar time: specified in months regardless of whether the system is running or not.

  • Page 103: Maintenance Schedule

    Changing the oil in axis-3 gearbox gearbox on page 160 Changing the oil in axis-4 Changing the oil in axis-4 gearbox gearbox on page 165 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 104 Replace when damage or cracks is detected or life limit is approaching that specified in section Expected component life on page 105. iii The battery is to be replaced at given maintenance interval or at battery low alert. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 105: Expected Component Life

    Examples of "extreme usage" in regard to movement: press tending, very severe palletizing applications, major use of axis 1 movement and major use of bending backwards of axis 3. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 106: Inspection Activities

    Robots with protection type Foundry Plus have a transparent plug/sight glass installed in the evacuation holes. xx1800000101 xx1800000102 Protection filter (Standard). Transparent plug (Foundry Plus). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 107 Replacing of motors is described in the repair chapter Motors on page 319. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 108: Inspecting The Information Labels

    Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. The figures show the location of the information labels to be inspected. The symbols...
  • Page 109 Spare part number Description 3HAC021485-001 Lubrication label Mobilgear 600 XP 320 3HAC032726-001 Lubrication label Kyodo Yushi TMO 150 3HAC032905-001 Lubrication label Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 110 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Article numbers for the labels and plate set is specified in Inspecting the information labels on page 108. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 111: Inspecting The Dampers

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A ©...
  • Page 112 Axis 5: M6x25 Steel 8.8-A2F (9ADA624-58 ) Locking liquid: Loctite 2400 (3HAC041807-004). DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 113: Inspecting The Axis-1 Mechanical Stop

    If the mechanical stop pin is bent or damaged, it must be replaced. Note The expected life of gearboxes can be reduced after collision with the mechanical stop. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 114 Locking liquid: 3HAC041807-004 (Loctite 2400) Note The attachment screw is accessed from the side. Do not overtighten the attachment screw, use specified tightening torque. xx2100001410 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 115: Inspecting The Cable Harness

    • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 116 Replace damaged cabling, if any. xx2100001473 Replace the cable harness if wear, cracks Removing the cable harness on or damage is detected. page 260. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 117: Inspecting The Oil Level In Axis-1 Gearbox

    Used to inspect the oil level in the axis- 1 gearbox when the manipulator is mounted inverted. The tool also includes an air vent. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 118 Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Make sure that the oil temperature is +25°C ± 10°C. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 119 O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002056 DANGER Make sure all safety requirements are met when performing the first test run. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 120 Remove the protective cap and install the Oil level gauge: 3HAC061881-001 ventilating valve enclosed with the oil level gauge. xx1700000349 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 121 Further information about how to drain or fill with oil is found in section Changing the oil in axis-1 gearbox on page 143. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 122 Continued Action Note Remove the tools and refit the protective caps. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 123: Inspecting The Oil Level In Axis-2 Gearbox

    596. Required consumables and wear parts Wear part Article number Note Lubricating oil Type of lubrication in gearboxes on page 141. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 124 Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Make sure that the oil temperature is +25°C ± 10°C. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 125 Further information about how to drain or fill with oil is found in section Chan- ging the oil in axis-2 gearbox on page 154. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 126 O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002059 Option Inverted (3317-1) xx2100002061 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 127: Inspecting The Oil Level In Axis-3 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 128 Make sure that the oil temperature is +25°C ± 10°C. WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 129 160. Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002064 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 130 4.3.8 Inspecting the oil level in axis-3 gearbox Continued Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 131: Inspecting The Oil Level In Axis-4 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 132 Open the oil plug. xx2100002072 Check the oil level. Required oil level is: 0-10 mm below oil plug hole Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 133 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002072 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 134: Inspecting The Oil Level In Axis-5 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 135 Make sure that the oil temperature is +25°C ± 10°C. WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 136 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002075 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 137: Inspecting The Oil Level In Axis-6 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Technical reference manual - Lubrication in gearboxes 3HAC042927-001 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 138 Make sure that the oil temperature is +25°C ± 10°C. WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 139 Further information about how to drain or fill with oil is found in section Changing the oil in axis-6 gearbox on page 175. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 140 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 20 Nm. xx2100002077 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 141: Replacement/Changing Activities

    The figure shows the location of the gearboxes. xx2100002078 Axis-1 gearbox Axis-2 gearbox Axis-3 gearbox Axis-4 gearbox Axis-5 gearbox Axis-6 gearbox Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 142 Oil level gauge Used to inspect the oil level in the axis-1 gear- box when the manipulator is mounted inverted. The tool also includes an air vent. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 143: Changing The Oil In Axis-1 Gearbox

    Changing oil in an inverted robot The oil in the axis-1 gearbox can either be changed when the robot is inverted or standing on the floor. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 144 Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Make sure that the oil temperature is +25°C ± 10°C. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 145 Used oil is hazardous material and must be disposed of in a safe way. See Decom- missioning on page 587 for more informa- tion. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 146 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 147 The robot color can otherwise be discolored. DANGER Make sure all safety requirements are met when performing the first test run. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 148 Remove the protective cap and install the ventil- Oil level gauge: 3HAC061881-001 ating valve enclosed with the oil level gauge. xx1700000349 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 149 After all repair and maintenance work involving oil, always wipe the robot clean from all surplus oil. The robot color can otherwise be discolored. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 150 Note The venting hole is opened to let out air during the filling process. xx1700000349 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 151 Note The amount of oil to be filled depends on the amount previously being drained. Remove the oil dispenser. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 152 Note The venting hole is opened to let out air during the filling process. xx1700000349 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 153 The robot color can otherwise be discolored. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 154: Changing The Oil In Axis-2 Gearbox

    Option Inverted (3317-1) xx2100002088 Oil plug with nipple for draining and filling with an oil dispenser Oil plug hole for ventilation and inspection Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 155 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 156 Open the venting hole while using the dis- penser, to avoid damaging vital parts in the gear. xx2100002059 Option Inverted (3317-1) xx2100002061 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 157 WARNING Handling gearbox oil involves several safety risks, see Gearbox lubricants (oil or grease) on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 158 Open the venting hole while using the dis- penser, to avoid damaging vital parts in the gear. xx2100002059 Option Inverted (3317-1) xx2100002061 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 159 O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002059 Option Inverted (3317-1) xx2100002061 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 160: Changing The Oil In Axis-3 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 161 The gearbox can contain an excess of pressure that can be hazardous. Open the oil plug carefully in order to let the excess pressure out. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 162 Used oil is hazardous material and must be disposed of in a safe way. See Decom- missioning on page 587 for more informa- tion. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 163 Technical reference manual - Lubrication in gearboxes. Note The amount of oil to be filled depends on the amount previously being drained. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 164 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002064 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 165: Changing The Oil In Axis-4 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 166 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 167 Refit the oil plug for the drainage hole, with O-ring: 3HACxxx a new o-ring. Tightening torque: 24 Nm. xx2100002095 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 168 The oil level sinks when the oil fills all cav- ities in the gearbox. Wait until the oil stops sinking, before measuring the oil level. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 169 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002072 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 170: Changing The Oil In Axis-5 Gearbox

    Type of lubric- ation in gearboxes on page 141. Standard toolkit Content is defined in section Standard toolkit on page 596. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 171 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 172 Refit the oil plug for the drainage hole, with O-ring: 3HACxxx a new o-ring. Tightening torque: 24 Nm. xx2100002099 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 173 The oil level sinks when the oil fills all cav- ities in the gearbox. Wait until the oil stops sinking, before measuring the oil level. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 174 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 24 Nm. xx2100002075 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 175: Changing The Oil In Axis-6 Gearbox

    Used on oil plug. Always replace when refitting oil plug. Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 176 Place the oil collecting vessel underneath the oil drain plug. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 177 Refit the oil plug for the drainage hole, with O-ring: 3HACxxx a new o-ring. Tightening torque: 20 Nm. xx2100002101 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 178 The oil level sinks when the oil fills all cav- ities in the gearbox. Wait until the oil stops sinking, before measuring the oil level. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 179 Refit the oil plug with a new o-ring. O-ring: 3HACxxx Tightening torque: 20 Nm. xx2100002077 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 180: Replacing The Smb Battery

    Required consumables and wear parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Wear part Article number...
  • Page 181 Pull out the battery and disconnect the battery cable. xx2100002131 Remove the SMB battery. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. Refitting the battery Use this procedure to refit the SMB battery. Action Note...
  • Page 182 Update the revolution counters. Updating revolution counters on page 563. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 183: Cleaning Activities

    4.5.1 Cleaning the IRB 5720 General To secure high uptime it is important that the IRB 5720 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the IRB 5720.
  • Page 184 4 Maintenance 4.5.1 Cleaning the IRB 5720 Continued • Do not use solvents that are not approved by ABB to clean the robot. • Do not spray from a distance closer than 0.4 m. • Do not remove any covers or other protective devices before cleaning the robot.
  • Page 185 Clean the cables if they have a crusty surface, for example from dry release agents. Cassette sealings Minor seepage of grease from the seals can occur. Wipe down affected areas with a dry cloth. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 186 This page is intentionally left blank...

  • Page 187: Repair

    Repair activities not described in this chapter must only be carried out by ABB. Report replaced units Note When replacing a part on the IRB 5720, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.

  • Page 188: General Procedures

    Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 189: Mounting Instructions For Bearings

    Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 190 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 191: Mounting Instructions For Sealings

    If the sealing is without dust lip, just lubricate the main lip with a thin layer of grease. xx2000000071 A Main lip B Grease C Dust lip Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 192 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
  • Page 193 Lubricate the o-ring with grease. Tighten the screws evenly while assembling. Check that the o-ring is not squashed outside the o-ring groove. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 194: Cut The Paint Or Surface On The Robot Before Replacing Parts

    Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 195: Lifting Procedures

    For some repair work support legs are required. Remove any payload and tools from the robot. DressPack can stay fitted. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 196 Disconnect the robot cables at the base. CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060 kg)
  • Page 197 (Or to support legs, if replacing the axis-1 gear- service) box.) The lifting accessories can be kept installed if they are not in the way for the upcoming service pro- cedure. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 198: Axes 1 And 2

    3 Replace the cassette sealing. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 199 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 200 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 201 Removing the cable harness from the base Action Note Pull out the robot cable harness through the protection tube. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 202 Removing the protection tube Action Note Floor-mounted robot: Loosen the protection tube by removing the two screws underneath. Let the tube slide down. xx2100002214 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 203 Removing the sealing ring in the frame Action Note Only for floor-mounted robot Foundry Plus Cut the flange sealant at the sealing ring (protec- tion tube). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 204 Drill three holes in the old cassette sealing, through the holes in the tool. Use a drill 3.5 mm. xx2100002216 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 205 Remove the cassette sealing and the tool. Clean the area from metal shavings with a magnet or a vacuum cleaner. xx2100002219 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 206 Replacement tool for cassette sealing: frame. 3HAC079880-001 xx2100001188 Fit the cassette sealing on the tool with the plain side facing upwards (groove down- wards). xx2100001189 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 207 (4) locations. The measurement is approximately 16 mm. xx2100001193 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 208 Apply sealant to the mounting surface for Protection type Foundry Plus. the sealing ring. Not required for option Inverted (3317-1). xx2100001173 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 209 Option Inverted (3317-1): Torx pan head screw: M6x16 A4- 80 (2 pcs) Refit the adapter with the attachment screws. xx2100002493 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 210 R1.MP1, see the figure. xx1300000736 Make sure that the markings on the cables are facing the base cover, when connected. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 211 Tightening torque: 10 Nm. xx2100000982 Refit the base cover. Torx pan head screw: M6x16 Stainless steel A2-70 Tightening torque: 10 Nm. xx2100000981 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 212 Torx pan head screw: M6x16 Stainless steel A2-70 Tightening torque: 6 Nm. xx2100001108 DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 213: Axes 3 And 4

    4 Replace the arm house cover including the cassette sealing. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 214 Preparations before removing the arm house cover Action Note Drain the axis-4 gearbox. Draining the axis-4 gearbox on page 166. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 215 Turn off all: • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 216 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 217 Remove the motor cover by removing the IRB 5720-180/2.6, IRB 5720-155/2.6 LID: screws. xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 218 Unscrew the attachment screws and re- move the motor cover. xx2000000376 Remove the connector bracket. xx2000000375 Disconnect the motor cables. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 219 Pull out the axis-6 motor cables by holding the cables with one hand at the motor and the other at the carrier. xx1300000666 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 220 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx2000000420 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 221 Note The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx2100002154 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 222 • Together: Move the cable harness Person 2, working at the back: out of the arm tube. xx1700001568 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 223 Fit the cross to the tube shaft with four M8 screws. xx2100001243 Fit the three armed tool part with three screws and wing nuts. xx2100001254 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 224 Use these procedures to refit the arm house cover including the cassette sealing. Preparations before refitting the arm house cover Action Note Wipe clean all contact surfaces. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 225 Prepare the refitting tool by removing the middle screw from the part of the tool designed as a cross. xx2100001265 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 226 Locking liquid: 3HAC041807-004 Ensure gap closure between cover and arm (Loctite 2400) house. Tightening torque: 10 Nm xx2100001255 Remove the tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 227 Refit the metal clamp beneath the arm Torx pan head screw: M6x16 Stainless house. steel A2-70 Tightening torque: 10 Nm. xx2100002154 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 228 Person 2, working at the back: • Together: Use caution and move the cable harness into the arm tube. xx1700001569 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 229 Torx pan head screw: M6x16 Stainless tube. steel A2-70 Tightening torque: 10 Nm. Note The screws are reached from outside the upper arm. xx2000000418 xx2000000417 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 230 Connect the motor cables. Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 231 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100002317 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 232 IRB 5720-180/2.6, IRB 5720-155/2.6 LID) 2400) Use locking liquid. Tightening torque: 6 Nm. IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 233 5 manually to +90°. Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 234 Connect in accordance with the markings on the connectors. Secure the power connector to the connect- Tightening torque: 1 Nm or bracket with a screw. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 235 Inspect the gasket. Gasket, tilt housing cover: 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 xx2100001287 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 236 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: and secured as shown in the figure. xx2100002627 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002626 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 237 Continued Action Note Foundry Plus: Wrist cover: Inspect the gasket. IRB 5720-180/2.6 / IRB 5720-155/2.6 LID: Replace the complete cover if the gasket 3HAC074181-002 (Graphite White) is damaged. 3HAC074181-004 (ABB Orange) IRB 5720-125/3.0 / IRB 5720-90/3.0 LID: 3HAC073390-002 (Graphite White)

  • Page 238: Wrist

    The wrist is located as shown in the figure. xx2100001288 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 239 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 240 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 241 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 242 Remove the connector bracket. xx2000000375 Disconnect the motor cables. Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 243 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 244 Remove the motor cover by removing the IRB 5720-180/2.6, IRB 5720-155/2.6 LID: screws. xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 245 CAUTION The weight of the wrist is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 90 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 60 All lifting accessories used must be sized accordingly. Attach a roundsling to the wrist as shown Roundsling, 1 m: Length: 1 m.
  • Page 246 Do not attach the roundsling around the axis-5 gearbox! xx2100001291 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 247 Connect the motor cables. Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 248 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100002317 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 249 IRB 5720-180/2.6, IRB 5720-155/2.6 LID) 2400) Use locking liquid. Tightening torque: 6 Nm. IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 250 5 manually to +90°. Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 251 Connect in accordance with the markings on the connectors. Secure the power connector to the connect- Tightening torque: 1 Nm or bracket with a screw. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 252 Inspect the gasket. Gasket, tilt housing cover: 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 xx2100001287 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 253 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: and secured as shown in the figure. xx2100002627 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002626 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 254 Continued Action Note Foundry Plus: Wrist cover: Inspect the gasket. IRB 5720-180/2.6 / IRB 5720-155/2.6 LID: Replace the complete cover if the gasket 3HAC074181-002 (Graphite White) is damaged. 3HAC074181-004 (ABB Orange) IRB 5720-125/3.0 / IRB 5720-90/3.0 LID: 3HAC073390-002 (Graphite White)

  • Page 255: Replacing The Turning Disc

    The turning disc is located as shown in the figure. IRB 5720-180/2.6: xx2100002166 IRB 5720-125/3.0: xx2100002260 IRB 5720-155/2.6 LID, IRB 5720-90/3.0 LID: xx2100002628 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 256 5.6.2 Replacing the turning disc Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 257 Remove the screws and washers, that se- IRB 5720-180/2.6, IRB 5720-125/3.0: cure the turning disc. xx2100002167 IRB 5720-155/2.6 LID, IRB 5720-90/3.0 LID: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 258 ( Mercasol 3110 Waxcoat. Recom- Apply rust preventive to the surface shown in the mended drying time is 24h.) figure. xx2100002232 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 259 IRB 5720-155/2.6 LID, IRB 5720- 90/3.0 LID: Concluding procedure Action Note DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 260: Electronic Parts

    The cable harness is located as shown in the figure. xx2100000483 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 261 • electric power supply • hydraulic pressure supply • air pressure supply to the robot, before entering the safe- guarded space. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 262 Use this procedure to remove the wrist cover. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 263 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 264 Remove the connector bracket. xx2000000375 Disconnect the motor cables. Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 265 Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 266 Remove the motor cover by removing the IRB 5720-180/2.6, IRB 5720-155/2.6 LID: screws. xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 267 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 268 Removing the cable harness from the wrist and upper arm Action Note Foundry Plus, DressPack: Foundry Plus Remove the cover. Note Use caution not to damage the gasket. xx2000000422 DressPack Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 269 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Remove the side cover on the arm tube. xx2000000420 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 270 Note The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx2100002154 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 271 • Together: Move the cable harness Person 2, working at the back: out of the arm tube. xx1700001568 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 272 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 273 Disconnecting the axis-1 and axis-2 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 274 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 275 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 276 Action Note Pull out the robot cable harness through the protection tube. xx2100001111 Place the cable harness safely on the frame. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 277 Note The screws are reached from the outside of the lower arm. xx2100002182 xx2100002183 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 278 5 Repair 5.7.1 Removing the cable harness Continued Action Note Remove the arm house metal clamp from the harness. xx2100002139 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 279 5 Repair 5.7.1 Removing the cable harness Continued Action Note Use caution and pull the cable harness out. Floor-standing robot: xx2100002144 Option Inverted (3317-1): xx2100002140 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 280: Refitting The Cable Harness

    The cable harness is located as shown in the figure. xx2100000483 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 281 Replace if damaged. Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 596. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 282 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Remove the arm house metal clamp from the harness, if installed. xx2100002139 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 283 5.7.2 Refitting the cable harness Continued Action Note Run the cable harness through the lower Floor-standing robot: arm. xx2100002184 Option Inverted (3317-1): xx2100002185 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 284 Do not change the position of the brackets! xx2100002182 xx2100002183 xx1300000595 Refit the arm house metal clamp to the harness. xx2100002139 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 285 Connect connectors R1.MP and R1.SMB. Screw dimension for R1.MP: M6x25 A2-70 Tightening torque for R1.MP: 10 Nm. Tightening torque for R1.SMB: 10 Nm. xx2100001109 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 286 The unit is sensitive to ESD. Before handling the unit read the safety information in section The unit is sensitive to ESD on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 287 Replace if damaged. Refit the electronic box with the attachment screws. Torx pan head screw: M6x60 (5 pcs) Tightening torque: 10 Nm. xx2100002134 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 288 A2-70 Tightening torque: 6 Nm. xx2000000442 xx2100001108 Secure the cable at the frame with metal Metal strap: 3HAC033886-001 straps. xx2100002133 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 289 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 290 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 291 This will also make it easier to run the cable harness through the inside of the robot. xx1300000668 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 292 • Together: Move the cable harness Person 2, working at the wrist: past the axis-5 motor and into the wrist. xx1300000746 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 293 Make sure the gasket is fitted cor- rectly on the side cover • Use attachment screws made of stainless steel to fit the side cover. xx2000000420 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 294 Tightening torque: 10 Nm. Tighten the two screws closest to the outlet Foundry Plus first (shown in figure), to avoid deformation. xx2100002636 DressPack xx2100002679 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 295 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 296 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 297 Connect the motor cables. Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 298 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100002317 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 299 IRB 5720-180/2.6, IRB 5720-155/2.6 LID) 2400) Use locking liquid. Tightening torque: 6 Nm. IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 300 5 manually to +90°. Push the cable harness into the wrist re- cess and up into the axis-6 motor. xx1300000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 301 Connect in accordance with the markings on the connectors. Secure the power connector to the connect- Tightening torque: 1 Nm or bracket with a screw. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 302 Inspect the gasket. Gasket, tilt housing cover: 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 xx2100001287 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 303 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: and secured as shown in the figure. xx2100002627 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002626 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 304 Continued Action Note Foundry Plus: Wrist cover: Inspect the gasket. IRB 5720-180/2.6 / IRB 5720-155/2.6 LID: Replace the complete cover if the gasket 3HAC074181-002 (Graphite White) is damaged. 3HAC074181-004 (ABB Orange) IRB 5720-125/3.0 / IRB 5720-90/3.0 LID: 3HAC073390-002 (Graphite White)
  • Page 305 Update the revolution counters. Updating revolution counters on page 563. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 306: Replacing The Brake Release Unit

    The brake release unit is located as shown in the figure. xx2000000232 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 307 Disconnecting and removing the SMB unit Action Note DANGER Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 308 The unit is sensitive to ESD on page Disconnect the connectors R2.BU1 and R2.BU2 from the brake release board. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 309 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 310 Secure the SMB unit with the attachment screws. Torx pan head tapping screw: Steel- Fe/Zn 8c M6x16 Tightening torque: 10 Nm. xx2100002159 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 311 The unit is sensitive to ESD on page Check the electronic box gasket. Gasket for cover, electronics: 3HAC073671-001 Replace if damaged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 312 Update the revolution counters if the battery has Updating revolution counters on been disconnected. page 563. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 313: Replacing The Smb Unit

    The SMB unit is located as shown in the figure. xx2100002158 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 314 Disconnecting and removing the SMB unit Action Note DANGER Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 315 The unit is sensitive to ESD. Before handling the unit read the safety information in section unit is sensitive to ESD on page Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 316 Secure the SMB unit with the attachment screws. Torx pan head tapping screw: Steel- Fe/Zn 8c M6x16 Tightening torque: 10 Nm. xx2100002159 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 317 Replace if damaged. Refit the electronic box with the attachment screws. Torx pan head screw: M6x60 (5 pcs) Tightening torque: 10 Nm. xx2100002134 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 318 Note Update the revolution counters. Updating revolution counters on page 563. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 319: Motors

    1 If installed in an inverted position (option 3317-1): drain the axis-1 gearbox. 2 Replace the motor. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 320 5.8.1 Replacing the axis-1 motor Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 321 Inverted robot: Draining the axis-1 gearbox on page 148. Drain the axis-1 gearbox, if the motor is replaced on an inverted manipulator. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 322 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 323 Floor-mounted robot: Removing the axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 324 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2100000503 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 325 Use caution and lift the motor straight up to get the pinion parted from the gear. xx2100002186 Disconnect the brake release tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 326 Screw the revolving handle to lift and fit the shelf against the motor. Inverted robot: Removing the axis-1 motor Note This procedure is valid for inverted robots. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 327 CAUTION Risk of pinching! Do not pinch the motor cabling. Route the cables throughout the motor connector hole. xx2100002809 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 328 Preparations prior to refitting motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 329 Remove the protection filter and install the transparent plug/sight glass. xx1600000576 xx1800000101 xx1800000102 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 330 30 seconds. Use the specified brake release tool to eliminate the risk. CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 331 Performing a leak-down test on page 188. Inverted robot: Attaching the motor lifting accessory Note This procedure is valid for inverted robots. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 332 Inverted robot: Refitting the axis-1 motor Action Note CAUTION The weight of the motor is 21 kg All lifting accessories used must be sized accord- ingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 333 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable exit is facing the correct way. xx2100002809 Figure 5.1: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 334 Disconnect the brake release tool. Inverted robot: Removing the motor lifting accessory Action Note Remove the lifting accessory by removing the at- tachment screws. xx2100002808 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 335 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 336 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 337 Fork lift accessory set: DANGER 3HAC058825-001. Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 338 If high stress on screws are suspected, replace 600-725 Nm, typical 650 Nm used screws with new ones. (screws none or lightly lubricated) Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 339 Use this procedure for the concluding refitting. Action Note Re-calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 340: Replacing The Axis-2 Motor

    3 Replace the motor. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
  • Page 341 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 596. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 342 Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Jog the robot to the synchronization position. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 343 Disconnecting the motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 344 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 345 Verify that the lower arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 346 Remove two opposite attachment screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2000000468 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 347 Disconnect the brake release tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 348 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 349 Remove the protection filter and install the transparent plug/sight glass. xx1600000576 xx1800000101 xx1800000102 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 350 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 xx2100000594 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 351 Remove the lifting accessory and allow the motor to rest on the guide pins. xx2000000457 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 352 Hex socket head cap screw: M10x30 12.9 washers. Gleitmo 603+Geomet 500 (2 pcs) Use a bits extender in order to reach the Bits extender: 3HAC12342-1 screws. xx2000000467 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 353 Tighten the screws. Tightening torque: 50 Nm. Disconnect the brake release tool. Perform a leak-down test. Performing a leak-down test on page 188. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 354 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 355 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 356 157. Re-calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 357: Replacing The Axis-3 Motor

    The motor is located as shown in the figure. xx2100000487 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 358 Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Drain the axis-3 gearbox. Draining the axis-3 gearbox on page 161. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 359 • air pressure supply to the robot, before entering the safeguarded space. Remove the cable bracket underneath the arm house. xx2100002154 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 360 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 361 Verify that the upper arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 362 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the motor slide better. xx2100002152 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 363 Remove flange sealant residues with Loctite 7200. Then use Loctite 7063 for cleaning the mating surface. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 364 Remove the protection filter and install the transparent plug/sight glass. xx1600000576 xx1800000101 xx1800000102 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 365 24V is supplied to the motor connector for more than 30 seconds. Use the spe- cified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 366 Tighten the screws. Tightening torque: 50 Nm. Disconnect the brake release tool. Perform a leak-down test. Performing a leak-down test on page 188. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 367 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 368 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 369 163. Re-calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 370: Replacing The Axis-4 Motor

    The motor is located as shown in the figure. xx2100000488 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 371 Preparations before removing the motor Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 372 If there is no space to position the upper arm Draining the axis-4 gearbox on pointed straight up, drain the axis-4 gearbox. page 166. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 373 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 374 Removing the axis-4 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 375 30 seconds. Use the specified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 376 Always use removal tools in pairs. CAUTION The weight of the motor is 12 kg All lifting accessories used must be sized accord- ingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 377 (Loctite 5800) tact surface. Note The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 378 Refitting the axis-4 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100002201 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 379 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 380 Hex socket head cap screw: M10x30 12.9 washers. Gleitmo 603+Geomet 500 (2 pcs) Use a bits extender in order to reach the Bits extender: 3HAC12342-1 screws. xx2100002212 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 381 Tighten the screws. Tightening torque: 24 Nm. Disconnect the brake release tool. Perform a leak-down test. Performing a leak-down test on page 188. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 382 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 383 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 384 168. Re-calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 385: Replacing The Axis-5 Motor

    The motor is located as shown in the figure. xx2100000489 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 386 Preparations before removing the axis-5 motor Action Note Decide which calibration routine to use, and take actions accordingly prior to begin- ning the repair procedure. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 387 Use this procedure to remove the wrist cover. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 388 Cut the cable tie. IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002630 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002625 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 389 Removing the axis-5 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 390 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 3HAC14631-1 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC14972-1 Used to push out the motor, if ne- cessary. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 391 Action Note CAUTION The weight of the motor is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 11 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 6 kg All lifting accessories used must be sized accord- ingly. Remove the motor by carefully lifting it straight out/straight up.
  • Page 392 Remove the protection filter and install the transparent plug/sight glass. xx1600000576 xx1800000101 xx1800000102 Protection filter (Stand- Transparent plug ard). (Foundry Plus). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 393 CAUTION The weight of the motor is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 11 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 6 All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A...
  • Page 394 Connect the motor cables. Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 395 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100002317 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 396 IRB 5720-180/2.6, IRB 5720-155/2.6 LID) 2400) Use locking liquid. Tightening torque: 6 Nm. IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 397 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: and secured as shown in the figure. xx2100002627 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002626 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 398 Continued Action Note Foundry Plus: Wrist cover: Inspect the gasket. IRB 5720-180/2.6 / IRB 5720-155/2.6 LID: Replace the complete cover if the gasket 3HAC074181-002 (Graphite White) is damaged. 3HAC074181-004 (ABB Orange) IRB 5720-125/3.0 / IRB 5720-90/3.0 LID: 3HAC073390-002 (Graphite White)

  • Page 399: Replacing The Axis-6 Motor

    The motor is located as shown in the figure. xx2100000490 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 400 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 596. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 401 Use this procedure to remove the wrist cover. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 402 Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 403 Remove the connector bracket. xx2000000375 Disconnect the motor cables. Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 404 Pull out the axis-6 motor cables by holding the cables with one hand at the motor and the other at the carrier. xx1300000666 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 405 Removal tool motor M10 Removal tool motor M8 Used to push out the motor, if necessary. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 406 Continued Action Note CAUTION The weight of the motor is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 5 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 4 All lifting accessories used must be sized accordingly. Remove the motor by lifting it straight up from the gear.
  • Page 407 Transparent plug ard). (Foundry Plus). Refitting the axis-6 motor Action Note Apply two guide pins in opposite holes. Guide pin, M6x150 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 408 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 409 M6x25 12.9 Gleitmo 603+Geomet 500 (IRB 5720-125/3.0, IRB 5720-90/3.0 LID) Tightening torque: 10 Nm xx2000000377 Perform a leak-down test. Performing a leak-down test on page 188. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 410 The attachment screw securing the carrier may be difficult to fit. Make sure the carrier is level and completely pressed against the bottom. xx1300000485 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 411 Refit the connector bracket with the at- Torx pan head screw: M5x12 Stainless tached connectors. steel A2-70 xx2000000375 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 412 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC071520-001 xx2100001287 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 413 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: and secured as shown in the figure. xx2100002627 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: xx2100002626 IRB 5720-180/2.6, IRB 5720-155/2.6 LID: Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 414 Continued Action Note Foundry Plus: Wrist cover: Inspect the gasket. IRB 5720-180/2.6 / IRB 5720-155/2.6 LID: Replace the complete cover if the gasket 3HAC074181-002 (Graphite White) is damaged. 3HAC074181-004 (ABB Orange) IRB 5720-125/3.0 / IRB 5720-90/3.0 LID: 3HAC073390-002 (Graphite White)

  • Page 415: Gears

    6 Remove the complete arm system (complete robot excluding the base and axis-1 gearbox) as an assembly. 7 Replace the axis-1 gearbox. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 416 5.9.1 Replacing the axis-1 gearbox Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 417 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 596. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 418 If the robot is to be calibrated with fine calibration: Remove all external cable packages (DressPack) and tools from the robot. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 419 For some repair work support legs are required. Remove any payload and tools from the robot. DressPack can stay fitted. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 420 Disconnect the robot cables at the base. CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060 kg)
  • Page 421 The lifting accessories can be kept installed if they are not in the way for the upcoming service pro- cedure. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 422 Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Fit a lifting eye to the wrist. Lifting eye: 3HAC16131-1 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 423 The back and front chains are only used as pre- caution for any movement of the robot during the lift. They do not need to be strained. xx2100001140 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 424 Fitting support legs under the floor mounted robot Action Note CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 kg) IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060...
  • Page 425 Floor-mounted robot: Draining the axis-1 gearbox on page 144. Note There will be some oil left in the gear after draining. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 426 Disconnecting the axis-1 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 427 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 428 Removing the axis-1 motor Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 429 Unscrew the attachment screws and Bits extender: 3HAC12342-1 washers. Use a bits extender to reach the screws. xx2100000503 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 430 Use caution and lift the motor straight up to get the pinion parted from the gear. xx2100002186 Disconnect the brake release tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 431 Remove the base cover. xx2100000981 Loosen the connectors: • R1.MP • R1.SMB xx2100001109 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 432 Removing the cable harness from the base Action Note Pull out the robot cable harness through the protection tube. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 433 The weight of the complete arm system is 700-769 kg (depending on robot variant) All lifting accessories must be sized accord- ingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 434 Do not change the position of the axes from the position de- scribed earlier. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 435 CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 436 • one using the torque wrench, loosen- xx2000000412 ing the screws from beside the base. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 437 Used oil is hazardous material and must be disposed of in a safe way. See Decommission- ing on page 587 for more information. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 438 Wipe the contact surfaces between gearbox and base clean from any contamination. xx1700000567 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 439 CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 440 Grease, Shell Gadus S2: 3HAC042536- the gearbox. 001. Not required for option Inverted (3317-1). xx2000000413 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 441 Apply rust preventive to the gearbox surface Rust preventive: 3HAC034903-001 (Mer- shown in the figures. casol 3110 Waxcoat. Recommended dry- ing time is 24h.) xx2100001117 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 442 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the gearbox slide better. xx2100002821 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 443 Do not use the new o-ring! xx1400002176 Verify that the locating pin in the gearbox will match the hole in the base. xx2100001167 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 444 • one using the torque wrench, tighten- ing the screws from beside the base. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 445 Removing the sealing ring in the frame Action Note Only for floor-mounted robot Foundry Plus Cut the flange sealant at the sealing ring (protec- tion tube). Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 446 Remove the adapter by removing the attachment screws. xx2100002493 Removing the cassette sealing Action Note Remove the cassette sealing by knocking it down through the frame. xx2100002309 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 447 The weight of the complete arm system is 700-769 kg (depending on robot variant) All lifting accessories must be sized accord- ingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 448 Make sure it is still in its place and will not be damaged in the contin- ued procedure. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 449 Refit the back plate and secure with two Tightening torque: 10 Nm screws. Torx pan head screw: M6x16 Stainless steel A2-70 (2 pcs) xx2000000411 Remove the lifting accessories. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 450 Replacement tool for cassette sealing: frame. 3HAC079880-001 xx2100001188 Fit the cassette sealing on the tool with the plain side facing upwards (groove down- wards). xx2100001189 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 451 (4) locations. The measurement is approximately 16 mm. xx2100001193 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 452 Apply sealant to the mounting surface for Protection type Foundry Plus. the sealing ring. Not required for option Inverted (3317-1). xx2100001173 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 453 (not available for option Inverted (3317-1)). Replace if damaged. xx1700001374 Option Inverted (3317-1): xx2100001168 Wipe the surfaces of the protection tube clean from any contamination. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 454 Refit the protection tube with the attachment screws. Locking liquid: 3HAC041807-004 (Loctite 2400) Apply locking liquid on the screws. Tightening torque: 10 Nm. xx2100002492 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 455 (Loctite 5800) tact surface. Note The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 456 Floor-mounted robot: Refitting the axis-1 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521- Always use guide pins in pairs. xx2100001194 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 457 30 seconds. Use the specified brake release tool to eliminate the risk. CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 458 1 gear in inverted position when filling oil, it is re- commended to fill the gearbox with oil before lift- ing up the robot to inverted position. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 459 Connect connectors R1.MP and R1.SMB. Screw dimension for R1.MP: M6x25 A2-70 Tightening torque for R1.MP: 10 Nm. Tightening torque for R1.SMB: 10 Nm. xx2100001109 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 460 Tightening torque: 10 Nm. xx2100000982 Refit the base cover. Torx pan head screw: M6x16 Stainless steel A2-70 Tightening torque: 10 Nm. xx2100000981 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 461 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 462 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 463 Apply rust preventive on the surfaces shown ing time is 24h.) in the figure, on stop pin and in the hole as shown in the figure. xx2100001139 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 464 Torx pan head screw: M6x16 Stainless steel A2-70 (6 pcs) Refit the axis-1 cable protection plate with the attachment screws. xx2100000979 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 465 Securing the floor mounted robot to the foundation Action Note CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 kg) IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060...
  • Page 466 Fork lift accessory set: DANGER 3HAC058825-001. Handling the tool incorrectly will cause serious injury. Read and follow enclosed user instructions for the tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 467 If high stress on screws are suspected, replace 600-725 Nm, typical 650 Nm used screws with new ones. (screws none or lightly lubricated) Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 468 Concluding procedure Action Note Calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 469: Replacing The Axis-2 Gearbox

    If needed, run axis-1 into a position that gives the required space. The figure shows an example. DANGER The base shall be fitted to the foundation when performing this procedure! xx2000000441 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 470 4 Remove the upper and lower arm mounted together, as an assembly. 5 Remove the axis-2 motor. 6 Replace the axis-2 gearbox. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 471 5.9.2 Replacing the axis-2 gearbox Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 472 • Fine calibration. All external cable packages (DressPack) and tools must be removed from the robot. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 473 For some repair work support legs are required. Remove any payload and tools from the robot. DressPack can stay fitted. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 474 Disconnect the robot cables at the base. CAUTION The weight of the IRB 5720 robot is IRB 5720-180/2.6: 990 kg (Inverted: 1,005 kg) IRB 5720-125/3.0: 985 kg (Inverted: 1,000 kg) IRB 5720-155/2.6 LID: 1,050 kg (Inverted: 1,070 IRB 5720-90/3.0 LID: 1,050 kg (Inverted: 1,060 kg)
  • Page 475 Preparations before removing the gearbox Action Note Decide which calibration routine to use, and take actions accordingly prior to beginning the repair procedure. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 476 Note CAUTION The weight of the complete upper and lower arm together is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 440 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 390 kg All lifting accessories used must be sized accord- ingly. Fit a lifting eye to the wrist.
  • Page 477 Roundsling, 1.5 m: Length: 1.5 m. IRB 5720-180/2.6, IRB 5720-155/2.6 Attach the roundsling to the shackle on the wrist. xx2100001415 IRB 5720-125/3.0, IRB 5720-90/3.0 xx2100001469 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 478 (or similar), then to the lifting eye in 3HAC15556-1 the arm house and to a roundsling run through Roundsling, 1 m: Length: 1 m. the wrist. xx2000000452 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 479 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 480 Verify that the lower arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 481 Remove two opposite attachment screws. Bits extender: 3HAC12342-1 Use a bits extender in order to reach the screws. xx2000000468 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 482 Disconnect the brake release tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 483 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 484 Use different lengths on the guide pins to simplify guidance. Lubricate the guide pins with some grease to make the lower arm slide better. xx2100002410 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 485 The weight of the complete upper and lower arm together is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 440 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 390 All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A ©...
  • Page 486 CAUTION Use extreme caution when lifting away the arms. The cable harness is still partly con- nected. xx2000000460 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 487 CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 488 Preparations before refitting the axis-2 gearbox Action Note CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 489 Note Also wipe clean the o-ring groove. Check the o-ring. O-ring: 3HAC061327-067 Replace if damaged. xx2100001132 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 490 Use this procedure to refit the gearbox. Action Note CAUTION The weight of the gearbox is 97 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 491 There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 492 Use different lengths on the guide pins to simplify guidance. Lubricate the guide pins with some grease to make the lower arm slide better. xx2100002417 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 493 The weight of the complete upper and lower arm together is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 440 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 390 All lifting accessories used must be sized accordingly. Attach the lifting accessories to the arm assembly, if not already fitted.
  • Page 494 Tighten the attachment screws. Tightening torque: see standard torque in Screw joints on page 592. Remove the lifting accessories. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 495 (Loctite 5800) tact surface. Note The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 496 Refitting the axis-2 motor Action Note Fit guide pins in opposite holes. Guide pin, M10x150: 3HAC15521-2 Always use guide pins in pairs. xx2100000593 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 497 All lifting accessories used must be sized accordingly. Apply the lifting accessory. Lifting accessory, motor: 3HAC15534-1 Lifting accessory (chain): 3HAC15556-1 xx2100000594 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 498 Remove the lifting accessory and allow the motor to rest on the guide pins. xx2000000457 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 499 Hex socket head cap screw: M10x30 12.9 washers. Gleitmo 603+Geomet 500 (2 pcs) Use a bits extender in order to reach the Bits extender: 3HAC12342-1 screws. xx2000000467 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 500 Tighten the screws. Tightening torque: 50 Nm. Disconnect the brake release tool. Perform a leak-down test. Performing a leak-down test on page 188. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 501 Connect in accordance with the markings on the connectors. Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 502 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 503 Refit the axis-2 lower arm metal clamp and the axis-3 lower arm metal clamp located on the inside of the lower arm. xx2100001104 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 504 3HAC073537-001. tions. DANGER Handling the tool incorrectly will cause serious injury. Read and follow enclosed user in- structions for the tool. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 505 157. Calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 506: Replacing The Axis-3 Gearbox

    Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A ©...
  • Page 507 (axes 5 and 6) valid calibration method for the robot. Standard toolkit Content is defined in section Standard toolkit on page 596. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 508 Drain the axis-3 gearbox. Draining the axis-3 gearbox on page 161. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 509 The manipulator is inverted. How to remove the cabling is described in following procedures. Skip them if the cabling can be kept installed. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 510 Use this procedure to remove the wrist cover. Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 511 If cabling needs to be removed: Disconnecting the axis-6 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 512 Remove the connector bracket. xx2000000375 Disconnect the motor cables. Unscrew the attachment screws that hold the cable bracket. xx1300000484 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 513 If cabling needs to be removed: Disconnecting the axis-5 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 514 Remove the motor cover by removing the IRB 5720-180/2.6, IRB 5720-155/2.6 LID: screws. xx2100002495 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: xx2100002494 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 515 This will also make it easier to run the cable harness through the inside of the upper arm. xx1300000668 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 516 Note The screw is reached from outside the up- per arm. xx1700000340 xx1700000339 Remove the arm house metal clamp. xx2100002154 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 517 • Together: Move the cable harness Person 2, working at the back: out of the arm tube. xx1700001568 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 518 The weight of the complete upper arm (in- cluding the wrist) is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 310 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 260 All lifting accessories used must be sized accordingly. Fit a lifting eye in the arm house, with a Lifting eye: 3HAC16131-1 fender washer underneath.
  • Page 519 Disconnecting the axis-3 and axis-4 motor cables Action Note DANGER Make sure that all supplies for electrical power, hydraulic pressure, and air pressure are turned off. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 520 Remove the motor cover by removing the screws. xx2100000596 Disconnect the power cable connector by removing the attachment screw. xx2100000667 Disconnect the signal cable connector. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 521 Verify that the upper arm is secured as previously de- scribed, before continuing. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 522 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the motor slide better. xx2100002152 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 523 Note The screw is reached from the outside of the lower arm! xx1800000042 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 524 Removal of the cabling in the upper arm and wrist is described in Removing the cable harness - upper arm and wrist on page 262. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 525 (chain), and make sure to place the chain the right way through the loops. xx1400002197 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 526 This is done in order to keep the axis-3 gearbox in a vertical position and to get the best position to replace the axis-3 gearbox, if applicable. xx1300000553 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 527 There will be some oil spill when the gear- box is removed. Put some oil absorbent cloth or paper below the gearbox. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 528 Preparations before refitting the axis-3 gearbox Action Note CAUTION The weight of the gearbox is 45 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 529 Wipe clean the contact surfaces of both the gearbox and the upper arm from any con- tamination. Check the o-ring. O-ring: 3HAC061327-063 Replace if damaged. xx2100001237 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 530 There is a risk that the gearbox may glide out and fall down if it is too far out to on the guide pins. xx2100002460 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 531 Always use guide pins in pairs. Lubricate the guide pins with some grease to make the upper arm slide better. xx2100002445 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 532 The weight of the complete upper arm (in- cluding the wrist) is IRB 5720-180/2.6, IRB 5720-155/2.6 LID: 310 kg IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 260 All lifting accessories used must be sized accordingly. Attach the lifting accessories, if not already Attaching the lifting accessories to the fitted.
  • Page 533 (Loctite 5800) tact surface. Note The purpose of the groove is to catch excess sealant. No o-ring is used. xx2100000520 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 534 Always use guide pins in pairs. xx2100002151 CAUTION The weight of the motor is 13 kg All lifting accessories used must be sized accordingly. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 535 Make sure that the motor pinion does not get damaged. • Make sure that the direction of the cable exit is facing the correct way. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 536 Use this procedure to refit the cable brackets. Action Note Remove the lifting accessories. Move the cable harness and DressPack back to the correct side of the robot. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 537 Refit the metal clamp beneath the arm Torx pan head screw: M6x16 Stainless house. steel A2-70 Tightening torque: 10 Nm. xx2100002154 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 538 Torx pan head screw: M3x12 Stainless steel A2-70 xx2100000598 Connect the motor cables. Connect in accordance with the markings on the connectors. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 539 5 Repair 5.9.3 Replacing the axis-3 gearbox Continued Action Note Secure the power connector with a screw. Tightening torque: 1 Nm xx2100000667 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 540 IRB 5720-125/3.0, IRB 5720-90/3.0 LID: 3HAC072862-003 xx2100000600 CAUTION When fitting the motor cover, make sure that none of the cables inside will be dam- aged. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 541 If cabling has been removed: Cable ties Secure the cable harness to the arm house eyelet with a cable tie. xx2000000415 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 542 Filling oil into the axis-3 gearbox on page 163. Calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 543: Replacing The Axis-6 Gearbox

    The gearbox is located as shown in the figure. xx2100000485 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 5720 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
  • Page 544 If no previous reference values exist, and routine on page 566. no new reference values can be created, then reference calibration is not possible. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 545 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 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 546 Removing the turning disc Action Note Remove the screws and washers, that se- IRB 5720-180/2.6, IRB 5720-125/3.0: cure the turning disc. xx2100002167 IRB 5720-155/2.6 LID, IRB 5720-90/3.0 LID: Remove the turning disc. xx2100002168 Disconnecting the axis-6 motor cables Action Note DANGER...
  • Page 547 Note Unscrew the attachment screws and re- move the motor cover. xx2000000376 Remove the connector bracket. xx2000000375 Disconnect the motor cables. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 548 24V is supplied to the motor connector for more than 30 seconds. Use the spe- cified brake release tool to eliminate the risk. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 549 Fit guide pins. xx2100002228 CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 550 Wipe clean the contact surfaces of both gearbox and wrist from any contamination. Check the o-ring. O-ring: 3HAC061327-070 Replace if damaged. xx2100002258 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 551 Protection type Foundry Plus: Flange sealant: 3HAC041807-007 Apply flange sealant on the surface shown in the figure. xx2100002233 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 552 Refitting the axis-6 gearbox Action Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 553 Connect in accordance with the markings on the connectors. Secure the power connector to the connect- Tightening torque: 1 Nm or bracket with a screw. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 554 Inspect the gasket. Gasket, tilt housing cover: 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 xx2100001287 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 555 ( Mercasol 3110 Waxcoat. Recom- Apply rust preventive to the surface shown in the mended drying time is 24h.) figure. xx2100002232 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 556 Concluding procedure Action Note Calibrate the robot. Calibration on page 557. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 557: Introduction To Calibration

    Term Definition Calibration method A collective term for several methods that might be available for calibrating the ABB robot. Each method contains calibration routines. Synchronization position Known position of the complete robot where the angle of each axis can be checked against visual synchronization marks.

  • Page 558: Calibration Methods

    Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 5720. It is the recommended method in order to achieve proper performance. The following routines are available for the Axis Calibration method: •...
  • Page 559 References Article numbers for the calibration tools are listed in the section Special tools on page 597. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 560: When To Calibrate

    The resolver values are changed If resolver values are changed, the robot must be re-calibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.

  • Page 561: Synchronization Marks And Axis Movement Directions

    6.2.1 Synchronization marks and synchronization position for axes Introduction This section shows the position of the synchronization marks and the synchronization position for each axis. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 562: Calibration Movement Directions For All Axes

    Positive directions are shown in the graphic below. Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below. Manual movement directions xx2100002527 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 563: Updating Revolution Counters

    Step 2 - Updating the revolution counter with the FlexPendant Use this procedure to update the revolution counter with the FlexPendant (OmniCore). Action On the start screen, tap Calibrate. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 564 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 579. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 565: Calibrating With Axis Calibration Method

    FlexPendant. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. WARNING The calibration tool must be fully inserted into the calibration bushing, until the steel spring ring snaps into place.
  • Page 566 A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory. The reference value will be named according to tool name, date etc.
  • Page 567 SafeMove. How to calibrate an inverted robot The IRB 5720 is calibrated inverted in factory, prior to shipping. To recalibrate an inverted robot, use either fine calibration or reference calibration routine. Product manual - IRB 5720 3HAC079195-001 Revision: A ©...

  • Page 568: Calibration Tools For Axis Calibration

    There is no risk for bad calibrations as long as the calibration tool is in one piece. WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration bushings may cause severe damage to the robot and/or personnel. Equipment, etc. Article number...
  • Page 569 It is possible to make the calibration tool identifiable with, for example, an RFID chip. The procedure of how to install an RFID chip is described below. Note The tool identifier is NOT delivered from ABB, it is a customized solution. Action Note It is possible to use any RFID solution, with the correct dimensions.

  • Page 570: Installation Locations For The Calibration Tools

    This is shown in the figure. xx2100002320 Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 571 Protection cover and plug set 3HAC064875-001 Contains replacement calibration (axes 1, 2, 3 and 4) pin covers and protective plugs for the bushings. 3HAC059487-001 (axes 5 and 6) Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 572: Axis Calibration - Running The Calibration Procedure

    WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB. Using other pins in the calibration holes may cause severe damage to the robot and/or personnel. Equipment, etc.
  • Page 573 For RobotWare 7, the mechanical unit page is displayed only if there is more than one mechan- ical unit available. The calibration method used at ABB factory for The FlexPendant will give all inform- each axis is shown, as well as calibration method ation needed to proceed with Axis used for the robot during last field calibration.
  • Page 574 Axis Calibration routine. When a warning message is displayed, tap Acknowledge to confirm the unsynchronized state and continue Axis Calibration procedure. CAUTION SafeMove must be synchronized after the calibration is completed. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 575 Replace the plug and the sealing with new spare part, if missing or damaged. xx1500000952 Protection cover and plug set: . 3HAC064875-001 (axes 1, 2, 3 and 3HAC059487-001 (axes 5 and 6) Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 576: Reference Calibration

    (step 5, see Brief introduction to Reference Calibration on page 576). Example "Adjust axis 4": 1 Create a backup. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 577 10 Check again against the verification position. 11 Repeat the manual tuning if needed. 12 Create a new reference if the intention is to use the reference in the future. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 578: Verifying The Calibration

    Write down the values on a new label and stick it on top of the calibration label. The label is located on the lower arm. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 579: Checking The Synchronization Position

    If they do not, up- ization position for axes on page 561 date the revolution counters. Updating revolution counters on page 563. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 580 This page is intentionally left blank...

  • Page 581: Troubleshooting

    Check: been installed • the configuration files • connectors • options and their configuration • changes in the robot working space/movements. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 582 The robot has recently Check: been moved from one site • connections to another (an already • software versions working robot) Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 583: Oil And Grease Stains On Motors And Gearboxes

    "cooling periods" into the your local ABB representative. application. • Overpressure created inside gearbox. Inspect all sealings and gaskets between motor and gearbox. Replace broken parts. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 584: Mechanical Noise Or Dissonance

    Make sure the bearings are fitted correctly. Tighten the screws if a heat sink, fan, or metal sheet is loose. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 585 Investigate whether it chased from your local ABB representat- is possible to program small "cooling ive. periods" into the application. • Overpressure created inside gearbox. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 586: Manipulator Collapses On Power Down

    Remove the motor from the gearbox to in- If found faulty, the motor must be replaced spect it from the drive side. as a complete unit. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 587: Decommissioning

    8 Decommissioning 8.1 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
  • Page 588 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 589: Reference Information

    9.1 Introduction 9 Reference information 9.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 590: Applicable Standards

    Industrial robots and robot Systems - General safety require- ments EN ISO 10218-1 Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 591: Unit Conversion

    1 kg 2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 592: Screw Joints

    9.4 Screw joints 9.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
  • Page 593 Dimension Tightening torque (Nm) Tightening torque (Nm) Tightening torque (Nm) Class 8.8, oil-lubricated Class 10.9, oil-lubric- Class 12.9, oil-lubric- ated ated Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 594 Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Lubricated with Molycote 1000, Gleitmo 603 or equivalent Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 595: Weight Specifications

    All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.

  • Page 596: Standard Toolkit

    Hex bit socket head cap no. 6 socket 40 mm L=145 mm Hex bit socket head cap no. 6 socket 40mm bit L=220 mm Plastic mallet Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.

  • Page 597: Special Tools

    Special tools Note If the replacing procedure is not listed in the table below, only standard tools are needed for the procedure. Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 598 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Removal/refitting tools Replacement tool for cassette 3HAC079880-001 sealing xx2100002288 Replacement tool for arm house 3HAC079878-001 cover xx2100002289 3HAC14631-1 Removal tool motor M12...
  • Page 599 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC081565-001 Lifting adapter xx2200000205 3HAC081585-001 Lifting accessory for gear xx2100002415 3HAC15534-1 Lifting accessory, motor Fender washer 3HAC15556-1 Lifting accessory (chain)
  • Page 600 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC15520-2 Guide pin, M8x150 3HAC15521-2 Guide pin, M10x150 3HAC13056-2 Guide pin, M12x150 3HAC13056-3 Guide pin, M12x200 3HAC13120-2 Guide pin, M16x150...
  • Page 601 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) 3HAC073537-001 Lifting and turning tool xx2100002608 3HAC058825-001 Fork lift accessory set xx2200000207 3HAC061881-001 Oil level gauge xx1600002093 Lifting accessory, motor (inverted...
  • Page 602 9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) xx2100002816 IRB 5720-180/2.6, IRB 5720-155/2.6 LID IRB 5720-125/3.0, IRB 5720-90/3.0 LID Continues on next page Product manual - IRB 5720 3HAC079195-001 Revision: A ©...

  • Page 603: Lifting Accessories And Lifting Instructions

    The use of each piece of lifting accessories is not detailed in the activity procedure, but in the instruction delivered with each piece of lifting accessories. The instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 604 This page is intentionally left blank...

  • Page 605: Index

    52 brake releasing, 75 expected life, 105 brakes extended working range, 95 testing function, 33 extended working range, axis 1, 95 extra equipment, 80 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 606 103 personnel inverted mounting, 77 requirements, 16 positive directions, axes, 562 labels PPE, 16 robot, 19 product standards, 590 leak-down test, 188 protection classes, 40 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 607 433, 447 safety devices, 27 robot, 68, 72, 196, 420, 424, 465, 474 safety signals upper and lower arm, 476, 485, 493 in manual, 17 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 608 Index upper arm, complete, 518, 532 wrist, 245 working range, 50 replacing, 55, 65 robot, 41 wrist zero position replacing, 238 checking, 579 Product manual - IRB 5720 3HAC079195-001 Revision: A © Copyright 2022 ABB. All rights reserved.
  • Page 610 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2022 ABB. All rights reserved. Specifications subject to change without notice.

This manual is also suitable for:

Irb 5720-180/2.6Irb 5720-125/3.0Irb 5720-155/2.6 lidIrb 5720-90/3.0 lidIrb 5710

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