ABB IRB 5720 Product Manual page 215

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Product manual - IRB 5720
3HAC079195-001 Revision: A
5.5.1 Replacing the arm house cover including the axis-4 cassette sealing
Action
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: -60°
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
The specified position is a recommended position
for service.
Axis-5 must be oriented as close as possible to
+90° to be able to open the axis-6 motor cover
and to remove the axis-6 motor cables, and in
order to avoid the spiral of the cable harness in
the carrier, being unwound or placed in the wrong
position.
Depending on what tool is used, the other axes
may need to be jogged to another position.
Option Inverted (3317-1)
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: 0°
• Axis 3: 0°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
The specified position is a recommended position
for service.
Axis-5 must be oriented as close as possible to
+90° to be able to open the axis-6 motor cover
and to remove the axis-6 motor cables, and in
order to avoid the spiral of the cable harness in
the carrier, being unwound or placed in the wrong
position.
Depending on what tool is used, the other axes
may need to be jogged to another position.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
© Copyright 2022 ABB. All rights reserved.
5 Repair
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Note
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