ABB IRB 5720-125/3.0 Manuals

Manuals and User Guides for ABB IRB 5720-125/3.0. We have 1 ABB IRB 5720-125/3.0 manual available for free PDF download: Product Manual

ABB IRB 5720-125/3.0 Product Manual (610 pages)

Brand: ABB | Category: Robotics | Size: 39.58 MB

Table of Contents
5
Overview of this Manual
9
Product Documentation
11
How to Read the Product Manual
13
Safety
15
Safety Information
15
Limitation of Liability
15
Requirements on Personnel
16
Safety Signals and Symbols
17
Safety Signals in the Manual
17
Safety Symbols on Manipulator Labels
19
Robot Stopping Functions
25
Safety During Installation and Commissioning
26
Safety During Operation
28
Safety During Maintenance and Repair
29
Emergency Release of the Robot Axes
32
Brake Testing
33
Safety During Troubleshooting
34
Safety During Decommissioning
35
Technical Data
37
Working Range
41
The Unit Is Sensitive to ESD
52
Installation and Commissioning
53
Introduction to Installation and Commissioning
53
Unpacking
54
Pre-Installation Procedure
54
Risk of Tipping/Stability
55
On-Site Installation
56
Brief Installation Procedure
56
Installing a Base Plate
57
Lifting the Robot
64
Lifting the Robot with Fork Lift
64
Lifting and Rotating a Suspended Mounted Manipulator
65
Lifting the Robot with Roundslings
66
Orienting and Securing the Robot
71
Manually Releasing the Brakes
75
Setting the System Parameters for an Inverted or a Tilted Robot
77
Loads Fitted to the Robot, Stopping Time and Braking Distances
79
Fitting Equipment on the Robot (Robot Dimensions)
80
Working Range Alterations
91
Adjusting the Working Range
91
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)
92
Extended Working Range, Axis 1 (Option)
95
Electrical Connections
97
Robot Cabling and Connection Points
97
Test Run after Installation, Maintenance, or Repair
100
Maintenance
101
Introduction
101
Maintenance Schedule and Expected Component Life
102
Specification of Maintenance Intervals
102
Maintenance Schedule
103
Expected Component Life
105
Inspection Activities
106
Inspecting the Motor Seal
106
Inspecting the Information Labels
108
Inspecting the Dampers
111
Inspecting the Axis-1 Mechanical Stop
113
Inspecting the Cable Harness
115
Inspecting the Oil Level in Axis-1 Gearbox
117
Inspecting the Oil Level in Axis-2 Gearbox
123
Inspecting the Oil Level in Axis-3 Gearbox
127
Inspecting the Oil Level in Axis-4 Gearbox
131
Inspecting the Oil Level in Axis-5 Gearbox
134
Inspecting the Oil Level in Axis-6 Gearbox
137
Replacement/Changing Activities
141
Type of Lubrication in Gearboxes
141
Changing the Oil in Axis-1 Gearbox
143
Changing the Oil in Axis-2 Gearbox
154
Changing the Oil in Axis-3 Gearbox
160
Changing the Oil in Axis-4 Gearbox
165
Changing the Oil in Axis-5 Gearbox
170
Changing the Oil in Axis-6 Gearbox
175
Replacing the SMB Battery
180
Cleaning Activities
183
Cleaning the IRB 5720
183
Repair
187
Introduction
187
General Procedures
188
Performing a Leak-Down Test
188
Mounting Instructions for Bearings
189
Mounting Instructions for Sealings
191
Cut the Paint or Surface on the Robot before Replacing Parts
194
Lifting Procedures
195
Lifting down the Manipulator from Inverted to Floor-Standing Position
195
Axes 1 and 2
198
Replacing the Axis-1 Cassette Sealing
198
Axes 3 and 4
213
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing
213
Wrist
238
Replacing the Wrist
238
Replacing the Turning Disc
255
Electronic Parts
260
Removing the Cable Harness
260
Refitting the Cable Harness
280
Replacing the Brake Release Unit
306
Replacing the SMB Unit
313
Motors
319
Replacing the Axis-1 Motor
319
Replacing the Axis-2 Motor
340
Replacing the Axis-3 Motor
357
Replacing the Axis-4 Motor
370
Replacing the Axis-5 Motor
385
Replacing the Axis-6 Motor
399
Gears
415
Replacing the Axis-1 Gearbox
415
Replacing the Axis-2 Gearbox
469
Replacing the Axis-3 Gearbox
506
Replacing the Axis-6 Gearbox
543
Introduction to Calibration
557
Introduction and Calibration Terminology
557
Calibration Methods
558
When to Calibrate
560
Synchronization Marks and Axis Movement Directions
561
Synchronization Marks and Synchronization Position for Axes
561
Calibration Movement Directions for All Axes
562
Updating Revolution Counters
563
Updating Revolution Counters on Omnicore Robots
563
Calibrating with Axis Calibration Method
565
Description of Axis Calibration
565
Calibration Tools for Axis Calibration
568
Installation Locations for the Calibration Tools
570
Axis Calibration - Running the Calibration Procedure
572
Reference Calibration
576
Verifying the Calibration
578
Checking the Synchronization Position
579
Troubleshooting
581
Introduction to Troubleshooting
581
Oil and Grease Stains on Motors and Gearboxes
583
Mechanical Noise or Dissonance
584
Manipulator Collapses on Power down
586
Decommissioning
587
Environmental Information
587
Reference Information
589
Introduction
589
Applicable Standards
590
Unit Conversion
591
Screw Joints
592
Weight Specifications
595
Standard Toolkit
596
Special Tools
597
Lifting Accessories and Lifting Instructions
603
Index
605

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