ABB Robotics IRB 6790 Product Manual page 319

Removing the lower arm
Use these procedures to remove the lower arm.
Preparations before removing the lower arm
1
2
3
4
5
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
Remove all equipment fitted to upper and
lower arms.
Check the leak flow value on the flow
sensor.
Note the value to be able to compare it
when repair is completed.
CAUTION
Turn off the air pressure supply.
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4.5.4 Replacing the lower arm
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 624.
Note
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4 Repair
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