ABB IRB 5720 Product Manual page 526

5 Repair
5.9.3 Replacing the axis-3 gearbox
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Action
Remove the remaining attachment screw
and let the upper arm slide out from the
lower arm with support from the guide pins.
Lift the upper arm and place it on the pre-
pared area.
CAUTION
Only valid when the upper arm is removed
due to replacement of the axis-3 gearbox:
If the cable harness is still fitted or partly
fitted, use caution when lifting the upper
arm over to the other side of the robot, in
order not to cause any damage to the cable
harness.
This step is only valid when the upper arm
is removed due to replacement of the axis-
3 gearbox:
Place pieces of wood (or similar) under arm
house and wrist. Lower the upper arm, and
let the upper arm rest as shown in the fig-
ure.
This is done in order to keep the axis-3
gearbox in a vertical position and to get the
best position to replace the axis-3 gearbox,
if applicable.
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Product manual - IRB 5720
3HAC079195-001 Revision: A