ABB Robotics IRB 6790 Product Manual page 474

4 Repair
4.7.5 Replacing the axis-5 motor
Continued
2
3
4
5
Continues on next page
474
Action
Jog the robot to this position:
• Axis 2: +25°
• Axis 3: +35°
Jog axis 4 to this position:
• Axis 4: -90°
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
Check the leak flow value on the flow
sensor.
Note the value to be able to compare it
when repair is completed.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
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With the robot in this position, there is no
need to drain oil from the axis-5 gearbox
when the motor is replaced.
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Product manual - IRB 6790
3HAC063331-001 Revision: B