ABB Robotics IRB 6790 Product Manual page 180

4 Repair
4.3.2 Attaching lifting accessories to an un-separated lower and upper arm
Continued
Equipment, etc.
Standard toolkit
Attaching lifting accessories to the lower and upper arm
Robot position
Use this procedure to jog the robot into position.
1
2
3
Attaching lifting accessories to the lower and upper arm
Use this procedure to attach the lifting accessories.
1
Continues on next page
180
Action
Note
When jogging the axis-2 into position check
that the balancing device ear and the ear
on the lower arm is not colliding!
Jog the robot into position:
• Axis-1: no significance as long as
the robot is secured to the founda-
tion
• Axis-2: -45°
• Axis-3: +65° (approximately)
• Axis-4: 0°
• Axis-5: 0°
• Axis-6: 0°.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the robot
working area.
Action
CAUTION
The lower and upper arms together weigh (accord-
ing to variants) 510 kg.
All lifting accessories used must be sized accord-
ingly!
© Copyright 2019 - 2020 ABB. All rights reserved.
Article number Note
- Content is defined in section
toolkit on page
Note
xx1200001250
Note
Standard
652.
Product manual - IRB 6790
3HAC063331-001 Revision: B