ABB Robotics IRB 6790 Product Manual page 488

4 Repair
4.7.6 Replacing the axis-6 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-6
Motor cover
Required tools and equipment
Equipment, etc.
Removal tool M12
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
488
Screws
M8x25 Stainless Steel
3HAC060786-010
M5x16 Stainless steel A2-
70
9ADA619-45
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.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
© Copyright 2019 - 2020 ABB. All rights reserved.
Washers
8.4x13x1.6 Stainless Steel
3HAC060866-001
-
Article number Note
3HAC057339-002 Used to push out the motor, if neces-
sary.
Always use removal tools in pairs.
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
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Quantity
4 pcs
5 pcs
Standard
652.
Reference calibration
624.
Product manual - IRB 6790
3HAC063331-001 Revision: B