ABB OmniCore IRB 6720 Product Manual

NoteActionIf needed, run the axis-1 into a position thatgives the required space (space to placetwo pallets in a row) at the right-hand sideof the robot, as seen from behind.Jog the robot into position:• Axis 1: no significance• Axis 2: -65°• Axis 3: maximum position in positivedirection, upper arm resting againstthe mechanical stop (approximately+70°)• Axis 4: 0°• Axis 5: +90°• Axis 6: 0°3xx2200001811DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the safe-guarded space.4xx1200001331A Attachment screw to be removedB Attachment screw not to be removedIf robot is equipped with DressPack:Unscrew the uppermost attachment screwthat holds the bracket of the DressPackcable package, and let it "fall down". Seefigure!NoteIt is not needed to disconnect the lowerend connectors of the DressPack (as thefigure shows). Connectors are only hiddento get a better view of which screw to beremoved.5Continues on next page522 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.8.3 Replacing the axis-3 gearboxContinued