ABB Robotics IRB 6790 Product Manual page 318

4 Repair
4.5.4 Replacing the lower arm
Continued
Equipment
Lifting shackle
Lifting accessory (chain)
Dismantle and mounting tool
Hydraulic pump 70 MPa
Hydraulic cylinder
Lifting eye
Lifting eye
Lifting accessory (chain)
Guide pin, M12x150
Guide pin, M12x200
Pallet
Guide pin, M16x150
Rotation tool
24 VDC power supply
Anvil
Calibration tool box, Axis
Calibration
Standard toolkit
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Continues on next page
318
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
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Article number Note
- SA-10-8-NA1
3HAC15556-1 Lifting instruction 3HAC15880-2 en-
closed.
3HAC028920-001 Used for removing and fitting shaft and
bearings.
3HAC13086-1 To be used with the hydraulic cylinder.
3HAC11731-1 To be used with the press tool.
3HAC16131-1 M12
3HAC16131-1 M12
3HAC15556-1 Lifting instruction 3HAC15880-2 en-
closed.
3HAC13056-2 Always use guide pins in pairs.
3HAC13056-3 Always use guide pins in pairs.
Used for putting down removed parts
from robot.
3HAC13120-2 Always use guide pins in pairs.
3HAB7887-1 Used to rotate the motor pinion.
- Used to release the motor brakes.
3HAC047273-001 Included in the tool kit Dismantle and
mounting tool (3HAC028920-001).
3HAC055412-001 Delivered as a set of calibration tools.
- Content is defined in section
toolkit on page
Note
Standard
652.
Product manual - IRB 6790
3HAC063331-001 Revision: B