ABB Robotics IRB 6790 Product Manual page 336

4 Repair
4.5.4 Replacing the lower arm
Continued
4
5
6
Preparations before removing the upper arm
1
Continues on next page
336
Action
Attach the upper arm lifting accessory
(chain) to an overhead crane (or similar)
and then to the lifting eye in the arm house
and in the wrist.
Raise the lifting accessories to take the
weight of the upper arm.
In case of necessary adjustments, use the
shortening loops on the lifting accessory
(chain) to find the level position.
Action
Remove two attachment screws (M12) in
opposite holes and replace them with guide
pins.
Note
Make sure that it is the screws that hold
the lower arm to the axis-3 gearbox that
are removed!
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Lifting accessory (chain): 3HAC15556-1
xx1200001308
xx1400002197
Note
Guide pin, M12x150: 3HAC13056-2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs.
xx1300000659
Product manual - IRB 6790
3HAC063331-001 Revision: B