ABB IRB 5720 Product Manual page 372

5 Repair
5.8.4 Replacing the axis-4 motor
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Action
Floor-mounted robot:
Jog the robot into position:
• Axis 1: no significance
• Axis 2: -65°
• Axis 3: upper arm pointing straight up (if
possible).
• Axis 4: no significance
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no need to
drain oil from the axis-4 gearbox when the motor
is replaced.
Option Inverted (3317-1)
Jog the robot into position:
• Axis 1: no significance
• Axis 2: approximately +30°
• Axis 3: upper arm pointing straight up (if
possible).
• Axis 4: no significance
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no need to
drain oil from the axis-4 gearbox when the motor
is replaced.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
If there is no space to position the upper arm
pointed straight up, drain the axis-4 gearbox.
© Copyright 2022 ABB. All rights reserved.
Note
xx2100002188
xx2100002200
See Draining the axis-4 gearbox on
page 166.
Product manual - IRB 5720
3HAC079195-001 Revision: A