ABB IRB 5720 Product Manual page 387

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3
4
Retrieving access to the wrist cabling
Use this procedure to remove the wrist cover.
1
Product manual - IRB 5720
3HAC079195-001 Revision: A
Action
Floor-mounted robot:
Jog the robot into position:
• Axis 1: no significance
• Axis 2: suitable working position to
replace axis-5 motor (for example:
+25°)
• Axis 3: suitable working position to
replace axis-5 motor (for example:
+35°)
• Axis 4: -90°
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no
need to drain oil from the axis-5 gearbox
when the motor is replaced.
Option Inverted (3317-1)
Jog the robot into position:
• Axis 1: no significance
• Axis 2: 0°
• Axis 3: suitable working position to
replace axis-5 motor (for example:
+0°)
• Axis 4: +90°
• Axis 5: no significance
• Axis 6: no significance
With the robot in this position, there is no
need to drain oil from the axis-5 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 safe-
guarded space.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
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5.8.5 Replacing the axis-5 motor
Note
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xx2100002203
Note
Continues on next page
5 Repair
Continued
387