NoteAction
xx2100002187
Floor-mounted robot:
Unload the upper arm using one of these meth-
ods:
• Use caution and jog axis-3 to maximum +
position. Release the brakes and let the
upper arm rest against the axis-3 damper.
Position shown in figure.
• Robot in synchronization position: use a
fork lift to rest the upper arm onto.
• Robot in synchronization position: use lift-
ing slings and an overhead crane to rest
the upper arm onto.
3
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Option Inverted (3317-1)
Jog the robot into position:
• Axis 1: position that allows best possible
access to fit the lifting accessories to the
upper arm (170° shown in figure)
• Axis 2: -47°
• Axis 3: -135° (upper arm horizontal)
• Axis 4: 0°
• Axis 5: no significance
• Axis 6: no significance
Unload the weight of the upper arm using one of
these methods:
• Use a fork lift to rest the upper arm onto.
• Use lifting slings and an overhead crane to
rest the upper arm onto.
4
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
5
xx2100002154
Remove the cable bracket underneath the arm
house.
6
Continues on next page
Product manual - IRB 5720 359
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.8.3 Replacing the axis-3 motor
Continued
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