ABB Robotics IRB 6790 Product Manual page 298

4 Repair
4.5.2 Replacing the wrist
Continued
Removing the wrist
1
2
3
Continues on next page
298
Action
Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the wrist slide better.
Remove the remaining attachment screws.
Pull out the wrist a bit, onto the guide pins.
Loosen the cable plate from the wrist by
removing the four nuts.
This is done to be able to remove the cable
harness from the wrist in a safe way.
CAUTION
Make sure that the cabling does not get
damaged.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Guide pin, M12x150: 3HAC13056-2
Always use guide pins in pairs.
xx1300000748
xx1300000749
xx1700001594
A Tubeshaft plate
Product manual - IRB 6790
3HAC063331-001 Revision: B