ABB Robotics IRB 6790 Product Manual page 256

4 Repair
4.5.1 Replacing the upper arm
Continued
3
4
5
6
7
Position of the robot in the continued process
1
2
Continues on next page
256
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
Remove tools and other equipment fitted
to wrist and upper arm.
Prepare an area where to put the upper
arm, after removal. On pallets, as a sugges-
tion.
Check the leak flow value on the flow
sensor.
Note the value to be able to compare it
when repair is completed.
CAUTION
Turn off the air pressure supply.
Action
Jog the robot into position:
• Axis 1: No significance (as long as
the robot is secured to the founda-
tion)
• Axis 2: -60°
• Axis 3: +60°
• Axis 4: +90°
• Axis 5: +90°
• Axis 6: No significance
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
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Note
xx1700001593
Note
Product manual - IRB 6790
3HAC063331-001 Revision: B