NoteAction
If needed, run the axis-1 into a position that
gives the required space (space to place
two pallets in a row) at the right-hand side
of the robot, as seen from behind.
xx2100001218
Floor-mounted robot:
Jog the robot into position:
• Axis 1: no significance
• Axis 2: -65°
• Axis 3: maximum position in positive
direction, upper arm resting against
the mechanical stop (approximately
+70°)
• Axis 4: 0°
• Axis 5: -90°
• Axis 6: 0°
3
xx2100002137
Option Inverted (3317-1)
Jog the robot into position:
• Axis 1: position that allows best
possible access to fit the lifting ac-
cessories to the upper arm (170°
shown in figure)
• Axis 2:
-47°
• Axis 3: -135° (upper arm horizontal)
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: 0°
4
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
5
Choose to remove the cabling from the
upper arm, if any of following circum-
stances is true:
• There is not enough free space to
put down the upper arm next to the
floor-mounted manipulator.
• The manipulator is inverted.
How to remove the cabling is described in
following procedures. Skip them if the
cabling can be kept installed.
6
Continues on next page
Product manual - IRB 5720 509
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.9.3 Replacing the axis-3 gearbox
Continued
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