NoteActionxx1200001189Unscrew five of the six attachment screwsinside the frame hole that secure the frameto the gearbox.NoteLeave the outermost screw fitted as a safetyprecaution!xx12000011859xx1200001238Unscrew five of the six attachment screwsunder the balancing device.NoteLeave the screw closest to the axis-1 motorfitted.xx120000123910Robot positionNoteActionxx1200001132Jog the robot into position:• Axis 1: no significance as long as the robotis secured to the foundation.• Axis 2: -45°• Axis 3: +50° to 55° (approximately)• Axis 4, 5 and 6: calibration position (0°)1Continues on next page3HAC044266-001 Revision: - 453© Copyright 2013 ABB. All rights reserved.4 Repair4.8.1 Replacing the axis-1 gearboxContinued
