ABB IRB 8700 Product Manual page 250

4 Repair
4.5.1 Replacing the upper arm
Continued
Robot position when removing the upper arm
1
2
Retrieving access to the wrist cabling
1
2
Continues on next page
250
Action
Turn on the power and jog the robot to the
specified position:
• Axis 1: no significance as long as
the robot is fitted to the foundation.
• Axis 2: -65°
• Axis 3: approximately +2° (upper
arm as horizontal as possible to the
foundation)
• Axis 4: +90°
• Axis 5: approximately -90° (to bal-
ance the weight of the upper arm)
• Axis 6: no significance.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
Remove the wrist cover.
Note
Do not damage the sealing. Replace if
damaged.
Note
The position of axis-4 depends on the on-
going procedure.
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Product manual - IRB 8700
3HAC052853-001 Revision: M