ABB Robotics IRB 6790 Product Manual page 362

4 Repair
4.5.4 Replacing the lower arm
Continued
8
9
Refitting the front shaft of the balancing device
1
2
3
4
5
6
Continues on next page
362
Action
Use caution in order not to damage the
cable harness when the wrist cover is refit-
ted, by following this method:
1 Hold the cover tilted. See figure!
2 Put the cable harness on the cover.
3 Lift the cover, still tilted.
4 Move the upper part of the cover into
position.
5 Secure the cover with its attachment
screws.
Refit the bracket to the frame.
Action
Turn the power to the robot on temporarily.
Use caution and jog the robot to the calibration
position (if not already done).
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the robot working
area.
Apply the lifting accessory to the balancing device
(if not already done).
Remove all residue of Loctite in the screw hole of
the shaft.
Wipe all contact surfaces inside the recess clean
from contamination.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Tightening torque: 10 Nm.
xx1300000772
xx1200001184
Note
Lifting shackle: SA-10-8-NA1
Lifting accessory (chain):
3HAC15556-1
Product manual - IRB 6790
3HAC063331-001 Revision: B