ABB IRB 5720 Product Manual page 401

Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
1
2
3
Retrieving access to the wrist cabling
Use this procedure to remove the wrist cover.
1
Product manual - IRB 5720
3HAC079195-001 Revision: A
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Jog the robot to a position where axis 5
can be positioned with the motor pointing
straight up at an acceptable working posi-
tion.
With axis 5 in this position it is possible to
replace the motor without draining the oil
from the axis-6 gearbox.
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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5.8.6 Replacing the axis-6 motor
Note
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Note
Continues on next page
5 Repair
Continued
401