ABB Robotics IRB 6790 Product Manual page 301

5
6
Attaching the lifting accessories to the wrist
1
2
3
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Fit the tubeshaft plate to the wrist.
If axis-5 is not already in position +90°,
connect the 24 VDC power supply, release
the brakes and move the axis manually into
that position.
Connect to R2.MP5-connector:
• + = pin 2
• - = pin 5
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
xx1700002156
24 VDC power supply
Note
Roundsling, 1 m: Length: 1 m, lifting capa-
city: 1,000 kg.
xx1300000673
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4 Repair
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301