ABB Robotics IRB 6790 Product Manual page 390

4 Repair
4.6.2 Replacing the balancing device
Continued
3
4
5
Removing the shaft in the front (link ear)
1
Continues on next page
390
Action
Unscrew the attachment screws on each
shaft.
Remove retaining ring, bore on one side.
Use the removal tool and pull the shaft out
a few millimeters, just long enough for the
balancing device to go free.
Action
Remove the two screws.
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Note
xx1300000663
M16x50 stainless steel
xx1300000664
Dismantle and mounting tool
(3HAC028920-001)
Note
xx1900002146
Product manual - IRB 6790
3HAC063331-001 Revision: B