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Product manual - IRB 5720
3HAC079195-001 Revision: A
Action
Floor-mounted robot:
Jog the robot into position:
•
Axis 1: no significance
•
Axis 2: -65°
•
Axis 3: maximum position in positive
direction, upper arm resting against
the mechanical stop (approximately
+70°)
•
Axis 4: 0°
•
Axis 5: -90°
•
Axis 6: 0°
Option Inverted (3317-1)
Jog the robot into position:
•
Axis 1: position that allows best
possible access to fit the lifting ac-
cessories to the upper arm (170°
shown in figure)
•
Axis 2:
-47°
•
Axis 3: -135° (upper arm horizontal)
•
Axis 4: 0°
•
Axis 5: +90°
•
Axis 6: 0°
DANGER
Turn off all:
•
electric power supply
•
hydraulic pressure supply
•
air pressure supply
to the robot, before entering the safe-
guarded space.
Choose to remove the cabling from the
upper arm, if any of following circum-
stances is true:
•
There is not enough free space to
put down the upper arm next to the
floor-mounted manipulator.
•
The manipulator is inverted.
How to remove the cabling is described in
following procedures. Skip them if the
cabling can be kept installed.
© Copyright 2022 ABB. All rights reserved.
5.9.3 Replacing the axis-3 gearbox
Note
If needed, run the axis-1 into a position that
gives the required space (space to place
two pallets in a row) at the right-hand side
of the robot, as seen from behind.
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5 Repair
Continued
509