ABB Robotics IRB 6790 Product Manual page 344

4 Repair
4.5.4 Replacing the lower arm
Continued
6
7
8
Refitting the cable harness - lower arm
1
Continues on next page
344
Action
Insert all nine M16 screws and 25 of the 27
M12 screws.
Remove the guide pins and fit the two re-
maining M12 screws.
Secure the upper arm by tightening the at-
tachment screws.
Action
Tip
Use tape and tie the axis-5 and axis-6
connectors and carrier into a bundle (if not
already done). This is done to facilitate the
procedure and to avoid damaging the parts
during the procedure.
This will also make it easier to run the cable
harness through the inside of the robot.
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Note
Screws:
M16x50 Stainless Steel (3HAC060786-041)
(9 pcs)
M12x40 Stainless Steel (3HAC060786-031)
(25 of 27 pcs)
Washers:
17x15x3 Stainless Steel (3HAC060866-005)
13x19x2 Stainless Steel (3HAC060866-004)
xx1400000359
xx1300000659
Tightening torque depends on screw dimen-
sion.
Tightening torque, M16: 300 Nm
Tightening torque, M12: 120 Nm
Note
xx1300000668
Product manual - IRB 6790
3HAC063331-001 Revision: B