ABB Robotics IRB 6790 Product Manual page 500

4 Repair
4.7.6 Replacing the axis-6 motor
Continued
3
4
5
6
7
500
Action
Refit the wrist cover. In order not to dam-
age the cable harness when the wrist cover
is refitted, use this method:
1 Hold the cover slightly tilted below
the wrist.
2 Put the cable harness inside the
cover.
3 Lift the cover, still tilted.
4 Move the upper part of the cover into
position.
5 Secure the cover with its attachment
screws.
Turn on the air pressure supply to the
overpressure system.
Check the leak flow value on the flow
sensor and compare it to the initial value.
The value should be the same.
If the value is higher than the initial value,
fault trace according to Inspecting the leak
flow (overpressure unit) in the system on
page 128.
Re-calibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
Tightening torque: 10 Nm
xx1300000772
xx1700001593
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section Calibration on page
Product manual - IRB 6790
3HAC063331-001 Revision: B
Calibrating
623.
613.