ABB IRB 8700 Product Manual page 348

4 Repair
4.5.6 Replacing the complete lower arm
Continued
Unscrewing the brackets that secure cable harness in lower arm
1
Robot position when removing the upper arm
1
Continues on next page
348
Action
Unscrew the screws of the two brackets
that secure the cable harness inside the
lower arm.
In order to be able to remove the cable
harness later on, it is necessary to unscrew
the two brackets inside the lower arm at
this stage. It will be very difficult to reach
the bracket screws after the position of the
robot is changed.
Note
The screws are reached from the outside.
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.
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Product manual - IRB 8700
3HAC052853-001 Revision: M