ABB IRB 5720, Product Manual

Page: 261 / 610

Preparations before removing the cable harness
Note Action
xx2100002132
Floor-standing robot:
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: -60°
• Axis 3: +60°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
The specified position is a recommended
position.
Orient axis-5 as close as possible to +90°
to be able to open the axis-6 motor cover
and to remove the axis-6 motor cables. The
axis-5 position is also important to avoid
the spiral of the cable harness in the carrier
being unwound or placed in wrong position.
Depending on what tool is used, the other
axes may need to be jogged to another
position.
1
xx2100002138
Option Inverted (3317-1)
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: 0°
• Axis 3: 0°
• Axis 4: 0°
• Axis 5: +90°
• Axis 6: No significance.
Note
The specified position is a recommended
position.
Orient axis-5 as close as possible to +90°
to be able to open the axis-6 motor cover
and to remove the axis-6 motor cables. The
axis-5 position is also important to avoid
the spiral of the cable harness in the carrier
being unwound or placed in wrong position.
Depending on what tool is used, the other
axes may need to be jogged to another
position.
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
3
Continues on next page
Product manual - IRB 5720 261
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.7.1 Removing the cable harness
Continued