ABB Robotics IRB 6790 Product Manual page 321

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Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the robot
working area.
Remove the cover plate on the back of the
balancing device.
DANGER
DO NOT remove any other screws than the
rear cover attachment screws.
Fit the Distance tool on the back of the
balancing device using the four screws.
DANGER
Use caution when tightening the screws.
The threads in the cover can be damaged
if more tightening torque than 45 Nm is
used, risking that the Distance tool is not
properly fitted.
Turn the power on temporary.
Jog axis-2 to the calibration position.
The balancing device is now unloaded.
Let the Distance tool stay fitted during the
continued procedure.
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4.5.4 Replacing the lower arm
Note
xx1300000554
Tightening torque: 45 Nm
Attachment screws: M10x30 Stainless Steel
(3HAC060786-020) (4 pcs)
xx0800000480
A Distance tool: 3HAC030662-001
This is done to compress the balancing
device springs, making it possible to re-
move the front shaft of the balancing
device.
Continues on next page
4 Repair
Continued
A
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