ABB OmniCore IRB 6720 Product Manual

Preparations before removing the gearboxNoteActionDecide which calibration routine to use, and takeactions accordingly prior to beginning the repairprocedure.1xx2200001615Jog the robot into position:• Axis 1: 0°• Axis 2: -60°• Axis 3: +65° (approximately)• Axis 4: 0°• Axis 5: +90°• Axis 6: +90° (if DressPack is installed)CAUTIONCheck that the balancing device ear does notcollide with the ear on the lower arm when joggingthe axis-2 into position.2DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the safeguardedspace.3See Draining the axis-2 gearbox onpage 151.Begin draining the gearbox.4Attaching lifting accessories to the lower and upper armNoteActionCAUTIONThe weight of the complete upper and lower armtogether is 470 kgAll lifting accessories used must be sized accord-ingly.1Lifting eye: 3HAC16131-1Fit a lifting eye to the wrist.2xx2200001522Continues on next pageProduct manual - IRB 6720 4853HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.8.2 Replacing the axis-2 gearboxContinued