ABB Robotics IRB 6790 Product Manual page 309

2
3
4
5
6
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
• Make sure that the gasket is undam-
aged on the cover. Replace com-
plete cover, if gasket is damaged.
• Put washers in the holes of the gas-
ket.
• Use attachment screws made of
stainless steel to fit the wrist cover.
Refit the wrist cover. Use this method not
to damage the cable harness:
1 Hold the cover tilted. See figure!
2 Catch any part of the cable harness
hanging down.
3 Lift the cover, still held tilted.
4 Move the upper part of the cover into
position.
5 Secure the cover with its attachment
screws.
Turn on the air pressure supply to the
overpressure system.
Check the leak flow value on the flow
sensor and compare it to the initial value.
The value should be the same.
If the value is higher than the initial value,
fault trace according to Inspecting the leak
flow (overpressure unit) in the system on
page 128.
Re-calibrate the robot.
© Copyright 2019 - 2020 ABB. All rights reserved.
4.5.2 Replacing the wrist
Note
xx1900002085
Tightening torque: 10 Nm.
xx1300000772
xx1700001593
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section Calibration on page
Continues on next page
4 Repair
Continued
Calibrating
623.
613.
309