ABB Robotics IRB 6790 Product Manual page 178

4 Repair
4.3.1 Attaching lifting accessories to complete arm system
Continued
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Action
Attach the roundsling to the shackle on the wrist.
Jog axis-3 slowly until the roundsling is stretched
(approximately +58°), to carry the weight of the
lower arm and frame.
WARNING
Without the roundsling the weight of the lower
arm and frame is applied to the axis-3 gear during
lifting, which risks to damage the gear.
Fit a lifting eye in the arm house, with a fender
washer underneath.
xx1400002196
Fender washer
Note
Save the stop screw installed, to refit after the
lifting eye is removed.
Attach the Lifting accessory (chain) to an over-
head crane (or similar) and then to the lifting eye
in the arm house and to a roundsling run through
the wrist.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
xx1200001235
Lifting eye: 3HAC16131-1
Fender washer. Outer diameter:
minimum 26 mm, maximum 30 mm,
hole diameter: 13 mm, thickness:
3 mm.
xx1200001134
Lifting accessory (chain):
3HAC15556-1
Roundsling, 1 m: Length: 1 m, lift-
ing capacity: 1,000 kg.
xx1200001236
Product manual - IRB 6790
3HAC063331-001 Revision: B