ABB Robotics IRB 6790 Product Manual page 182

4 Repair
4.3.2 Attaching lifting accessories to an un-separated lower and upper arm
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Action
Adjust the roundsling on the other side of the
lower arm, so that the roundsling runs on the left
side of the most lower of the four bosses.
This will prevent the roundsling from gliding.
Attach the roundsling to the shackle on the wrist.
Stretch the roundsling between the wrist and the
lower arm by slowly jogging the axis-3.
Note
Make sure the roundsling is stretched, in order to
carry the weight of the lower arm.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the robot working
area.
Fit a lifting eye in the arm house, with a fender
washer underneath.
xx1400002196
Note
Save the stop screw installed, to refit after the
lifting eye is removed.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
xx1200001253
Lifting eye: 3HAC16131-1
Fender washer: Outer diameter:
minimum 26 mm, maximum 30 mm,
hole diameter: 13 mm, thickness:
3 mm.
xx1200001134
Product manual - IRB 6790
3HAC063331-001 Revision: B