ABB Robotics IRB 6790 Product Manual page 507

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Robot position
Use this procedure to jog the robot into position.
1
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Unscrew five of the six attachment screws
under the balancing device.
Note
Leave the screw closest to the axis-1 motor
fitted.
xx1200001239
Check the leak flow value on the flow sensor.
Note the value to be able to compare it when
repair is completed.
CAUTION
Turn off the air pressure supply.
Action
Jog the robot into position:
• Axis 1: no significance as long as the robot
is secured to the foundation.
• Axis 2: -40°
• Axis 3: +65° (approximately)
• Axis 4: calibration position (0°)
• Axis 5. +90°
• Axis 6: calibration position (0°)
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4.8.1 Replacing the axis-1 gearbox
Note
xx1200001238
xx1700001593
Note
xx1200001132
Continues on next page
4 Repair
Continued
507