ABB Robotics IRB 6790 Product Manual page 340

4 Repair
4.5.4 Replacing the lower arm
Continued
3
4
5
Refitting the lower arm
Use these procedures to refit the lower arm.
Preparations before refitting the lower arm
1
2
Continues on next page
340
Action
Remove all but one of the remaining attach-
ment screws and washers that secure the
lower arm to the axis 2 gearbox.
Make sure the lifting accessory is holding
the weight of the arm system.
Remove the remaining screw, slide the
lower arm out on the guide pins and re-
move the lower arm.
Action
DANGER
Make sure that all supplies for electrical
power and hydraulic pressure are turned
off.
Fit two guide pins in opposite holes in the
axis-2 gearbox.
Tip
Lubricate the guide pins with some grease
to make the lower arm slide better.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
xx1300000789
Note
Guide pin, M16x150: 3HAC13120-2
Always use guide pins in pairs.
xx1700000055
Product manual - IRB 6790
3HAC063331-001 Revision: B