ABB Robotics IRB 6790 Product Manual page 270

4 Repair
4.5.1 Replacing the upper arm
Continued
Removing the upper arm
1
2
3
4
Continues on next page
270
Action
Note
Make sure the lift is done completely
leveled! In case of necessary adjustments,
use the shortening loops on the lifting ac-
cessory (chain), and make sure to place
the chain the right way through the loops.
Remove the remaining attachment screw
and let the upper arm slide out from the
lower arm with support from the guide pins.
Lift the upper arm and place it on the pre-
pared area.
CAUTION
Only valid when the upper arm is removed
due to replacement of the axis-3 gearbox:
If the cable harness is still fitted or partly
fitted, use caution when lifting the upper
arm over to the other side of the robot, in
order not to cause any damage to the cable
harness.
This step is only valid when the upper arm
is removed due to replacement of the axis-
3 gearbox:
Place pieces of wood (or similar) under arm
house and wrist. Lower the upper arm, and
let the upper arm rest as shown in the fig-
ure.
This is done in order to keep the axis-3
gearbox in a vertical position and to get the
best position to replace the axis-3 gearbox,
if applicable.
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Note
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Product manual - IRB 6790
3HAC063331-001 Revision: B