ABB CRB 15000 Product Manual page 488

5 Repair
5.6.3 Replacing the axis-3 joint unit
Continued
Removing the joint unit
Use these procedures to remove the joint unit.
Preparations before removing the joint unit
1
2
Removing the lower arm covers
1
2
Continues on next page
488
Action
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: +90° (suggested position for con-
venient working position)
• Axis 3: -80° (home position)
• Axis 4: 0°
• Axis 5: 0°
• Axis 6: 0°
CAUTION
Jog the axis on which the joint unit is to be re-
placed to home position, to achieve correct cable
routing during replacement of the joint unit.
CAUTION
Turn off all supplies for electrical power to the
robot, before starting the repair work.
Action
CAUTION
Make sure that all supplies for electrical power
are turned off.
Remove the four lower arm cover screws.
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Product manual - CRB 15000
3HAC077389-001 Revision: A