ABB Robotics IRB 6790 Product Manual page 515

2
Removing the frame cable protection
1
Lifting away the complete arm system
Use this procedure to lift away the complete arm system.
1
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Pull out the cable harness up from the base
together with the black cable protection.
Tip
This step is best performed by two persons
working together:
• Person 1: Push the cable harness
up through the robot base.
• Person 2: Take a hold on the cable
protection and cable harness at the
frame and pull them upwards togeth-
er.
• Together: Move the cable harness
out of the base and place it on, for
example, the upper arm.
Action
Cut the flange sealant and remove the protection
ring.
Action
Raise the overhead crane to stretch the
chains and roundslings.
Make sure that the roundsling between the
wrist and the frame is stretched.
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4.8.1 Replacing the axis-1 gearbox
Note
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Note
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Note
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4 Repair
Continued
515