ABB Robotics IRB 6790 Product Manual page 297

5
6
Attaching the lifting accessories to the wrist
1
2
3
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Remove the cable gland cover by perform-
ing the following steps:
1 Open the inner screw a little (the one
the arrow is pointing at). No need to
remove this screw from the motor.
2 Remove the outer screw.
3 Slide the cable gland cover away
from the inner screw. Make sure the
gasket is not damaged.
Tip
Make a note in which direction the cable
exit hole is facing, if the motor will be re-
moved too. The motor shall be refitted in
the same position.
Use caution and pull out the motor cables.
Action
CAUTION
The weight of the complete wrist is 125 kg
All lifting accessories used must be sized
accordingly.
Attach a roundsling to the wrist as shown
in the figure.
CAUTION
It is very important that the roundsling is
placed as shown in the figure, to keep the
wrist balanced when it is removed. Placed
at a different position, there is a risk of
sudden change in the balance, which can
cause damage or injury.
Do not attach the roundsling around the
axis-5 gearbox!
Note
Make sure the roundsling is stretched, so
it can carry the weight of the wrist.
© Copyright 2019 - 2020 ABB. All rights reserved.
4.5.2 Replacing the wrist
Note
xx1300000656
Note
Roundsling, 1 m: Length: 1 m, lifting capa-
city: 1,000 kg.
xx1300000673
Continues on next page
4 Repair
Continued
297