ABB Robotics IRB 6790 Product Manual page 341

3
4
5
Securing the lower arm to the axis-2 gearbox
1
2
3
4
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
CAUTION
The lower arm weighs 145 kg.
All lifting accessories used must be sized
accordingly.
Attach the lifting accessory to the lower
arm.
Wipe clean all contact surfaces.
Action
CAUTION
The lower arm weighs 145 kg.
All lifting accessories used must be sized
accordingly.
Lift the lower arm onto the guide pins and
slide it into position.
In case the hole pattern of the lower arm
and gearbox does not match:
• Remove the motor cover.
• Apply the rotation tool on the motor
shaft.
• Connect the 24 VDC power supply.
• Release the brakes.
• Rotate pinion and gear with the rota-
tional tool until the holes matches.
Connect 24 VDC the power supply to con-
nector R2.MP2:
• + = pin 2
• - = pin 5
Fit one attachment screw in one of the up-
per holes using it for security and lower the
lifting accessory a little.
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4.5.4 Replacing the lower arm
Note
Note
Rotation tool
24 VDC power supply
xx1300000819
xx1300000790
Continues on next page
4 Repair
Continued
341