ABB Robotics IRB 6790 Product Manual page 269

6
Preparations before removing the upper arm
1
2
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
In case of necessary adjustments, use the
shortening loops on the lifting accessory
(chain) to find the level position.
Action
Remove two attachment screws (M12) in
opposite holes and replace them with guide
pins.
Note
Make sure that it is the screws that hold
the lower arm to the axis-3 gearbox that
are removed!
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
Leave one of the remaining attachment
screws fitted, remove the other screws.
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4.5.1 Replacing the upper arm
Note
xx1400002197
Note
Guide pin, M12x150: 3HAC13056-2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs.
xx1300000659
xx1300000747
Continues on next page
4 Repair
Continued
269