ABB IRB 5710, Product Manual

Page: 401 / 610

Removing the motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
xx2000000374
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. 2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
3
Retrieving access to the wrist cabling
Use this procedure to remove the wrist cover.
Note Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
1
Continues on next page
Product manual - IRB 5720 401
3HAC079195-001 Revision: A
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5 Repair
5.8.6 Replacing the axis-6 motor
Continued