ABB IRB 5720 Product Manual page 523

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Floor-mounted robot: Keeping cabling installed in upper arm - loosening the cable brackets
This procedure is valid if wanting to keep the cabling installed in the upper arm,
when removing the upper arm from the robot. If this is not possible due to lack of
space where to put the upper arm, the cable harness must be removed from the
upper arm, see
Use this procedure to loosen required cable brackets of the robot cable harness,
in order to get the longest possible length of the cable harness between the lower
and upper arm.
1
Product manual - IRB 5720
3HAC079195-001 Revision: A
Action
CAUTION
Whenever parting/mating motor and gear-
box, the gears may be damaged if excess-
ive force is used.
Press the motor out of its position by using
the removal tool in opposite holes of the
motor.
CAUTION
The weight of the motor is 13 kg
All lifting accessories used must be sized
accordingly.
Remove the motor by sliding it out on the
guide pins and lift it off.
Tip
Make a note in which direction the cable
gland hole is facing. The motor shall be
refitted in the same position.
Removing the cable harness - upper arm and wrist on page
Action
Unscrew the attachment screws that hold
the axis-3 lower arm metal clamp (the one
closest to the axis-3 gearbox) located on
the inside of the lower arm.
Note
The screw is reached from the outside of
the lower arm!
© Copyright 2022 ABB. All rights reserved.
5.9.3 Replacing the axis-3 gearbox
Note
Removal tool motor M12: 3HAC14631-1
Used to push out the motor, if necessary.
Always use removal tools in pairs.
xx2100002149
Make sure the pinion is not damaged.
Note
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5 Repair
Continued
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