ABB CRB 15000 Product Manual page 850

5 Repair
5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95)
Continued
Removing the joint unit
Use these procedures to remove the joint unit.
Preparations before removing the joint unit
1
2
Removing the lower arm covers (-5/0.95)
1
Continues on next page
850
Action
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: 0° (home position)
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: -90°
• Axis 6: No significance.
CAUTION
Jog the axis on which the joint unit is to be re-
placed to home position, to achieve correct cable
routing during replacement of the joint unit.
CAUTION
Turn off all supplies for electrical power to the
robot, before starting the repair work.
Action
CAUTION
Make sure that all supplies for electrical power
are turned off.
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Note
Product manual - CRB 15000
3HAC077389-001 Revision: L