ABB Robotics IRB 6790 Product Manual page 296

4 Repair
4.5.2 Replacing the wrist
Continued
2
3
4
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296
Action
Unscrew the attachment screws and
washers and remove the motor cover.
Make sure the o-ring is present.
Disconnect the motor cables.
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Product manual - IRB 6790
3HAC063331-001 Revision: B