ABB Robotics IRB 6790 Product Manual page 276

4 Repair
4.5.1 Replacing the upper arm
Continued
10
Continues on next page
276
Action
Refit the four nuts to the cable plate
between the wrist and the upper arm tube,
by reaching into the upper arm tube
through the arm tube side hole.
Refit the metal clamp axis-4, inside the arm
tube.
Note
The screws are reached from outside the
upper arm.
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Note
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Product manual - IRB 6790
3HAC063331-001 Revision: B