ABB Robotics IRB 6790 Product Manual page 338

4 Repair
4.5.4 Replacing the lower arm
Continued
4
Preparations before removing the lower arm
1
2
Continues on next page
338
Action
This step is only valid when the upper arm
is removed due to replacement of the axis-
3 gearbox:
Place pieces of wood (or similar) under arm
house and wrist. Lower the upper arm, and
let the upper arm rest as shown in the fig-
ure.
This is done in order to keep the axis-3
gearbox in a vertical position and to get the
best position to replace the axis-3 gearbox,
if applicable.
Action
DANGER
Make sure that all supplies for electrical
power and hydraulic pressure are turned
off.
Loosen the axis-2 lower arm metal clamp
and the axis-3 lower arm metal clamp loc-
ated on the inside of the lower arm by re-
moving the attachment screws.
Note
The screws are reached from outside the
lower arm!
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Product manual - IRB 6790
3HAC063331-001 Revision: B