ABB Robotics IRB 6790 Product Manual page 448

4 Repair
4.7.3 Replacing the axis-3 motor
Continued
Stainless steel fasteners
Due to robot protection type Foundry Prime, some of the attachment screws and
washers used on the robot are made of stainless steel. If damaged or lost, order
new items according to this table.
Equipment to be
fastened
Motor, axis-3
Motor cover
Required tools and equipment
Equipment, etc.
Lifting accessory (chain)
Lifting accessory, motor
Roundsling, 1 m
Removal tool
Guide pin, M10x150
Bits extender
Rotation tool
24 VDC power supply
Leak-down tester
Calibration tool box, Axis
Calibration
Standard toolkit
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Continues on next page
448
Screws
M10x30 Stainless Steel
3HAC060786-020
M5x12 Stainless steel A2-
70
9ADA619-44
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
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Washers
13x17x2 Stainless Steel
3HAC060866-003
-
Article number Note
3HAC15556-1 Lifting instruction 3HAC15880-2 en-
closed.
3HAC15534-1 Lifting instruction 3HAC15640-2 en-
closed.
- Length: 1 m, lifting capacity: 1,000 kg.
3HAC057339-002 Used to push out the motor, if neces-
sary.
Always use removal tools in pairs.
3HAC15521-2 Always use guide pins in pairs.
3HAC12342-1 300 mm, bits 1/2"
3HAB7887-1 Used to rotate the motor pinion.
- Used to release the motor brakes.
-
3HAC055412-001 Delivered as a set of calibration tools.
- Content is defined in section
toolkit on page
Note
Quantity
4 pcs
7 pcs
Standard
652.
Product manual - IRB 6790
3HAC063331-001 Revision: B