ABB Robotics IRB 6790 Product Manual page 543

If needed, run axis-1 into a position that gives the required space. The figure shows
an example.
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Example 2: Axis-1 jogged to a position where it is possible to find the required
space in another position of axis-1 than calibration position.
Product manual - IRB 6790
3HAC063331-001 Revision: B
Note
Using this method to replace the gearbox with cable harness and DressPack
fitted, is only a recommendation. If it is not possible to put the arm system close
enough to the robot and keep the cable harness partly fitted, it may by necessary
to remove the cable harness and DressPack in base and frame first.
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4.8.2 Replacing the axis-2 gearbox
Continues on next page
4 Repair
Continued
543