ABB Robotics IRB 6790 Product Manual page 461

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-4
Motor cover
Required tools and equipment
Equipment, etc.
Removal tool M12
Guide pin, M8x150
Long AllenKeySocketIN19L
6-140
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
Product manual - IRB 6790
3HAC063331-001 Revision: B
Screws
M8x30 Stainless Steel
3HAC060786-011
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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4.7.4 Replacing the axis-4 motor
Washers
8.4x16x1.6 Stainless Steel
3HAC060866-002
-
Article number Note
3HAC057339-002 Used to push out the motor, if neces-
sary.
Always use removal tools in pairs.
3HAC15520-2 Always use guide pins in pairs.
- Length: 140 mm.
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
4 Repair
Continued
Quantity
4 pcs
7 pcs
Standard
652.
Continues on next page
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