3
4
5
6
Product manual - IRB 5720
3HAC079195-001 Revision: A
Action
Floor-mounted robot:
Unload the upper arm using one of these meth-
ods:
•
Use caution and jog axis-3 to maximum +
position. Release the brakes and let the
upper arm rest against the axis-3 damper.
Position shown in figure.
•
Robot in synchronization position: use a
fork lift to rest the upper arm onto.
•
Robot in synchronization position: use lift-
ing slings and an overhead crane to rest
the upper arm onto.
Option Inverted (3317-1)
Jog the robot into position:
•
Axis 1: position that allows best possible
access to fit the lifting accessories to the
upper arm (170° shown in figure)
•
Axis 2: -47°
•
Axis 3: -135° (upper arm horizontal)
•
Axis 4: 0°
•
Axis 5: no significance
•
Axis 6: no significance
Unload the weight of the upper arm using one of
these methods:
•
Use a fork lift to rest the upper arm onto.
•
Use lifting slings and an overhead crane to
rest the upper arm onto.
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the safeguarded
space.
Remove the cable bracket underneath the arm
house.
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.8.3 Replacing the axis-3 motor
Continued
Note
xx2100002187
xx2100002137
xx2100002154
Continues on next page
359