ABB Robotics IRB 6790 Product Manual page 551

3
4
Robot position
Use this procedure to jog the robot into position.
1
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Use the dismantle and mounting tool and
pull the shaft out.
F
1
L
xx1700000378
The numbers in the figure refers to the
marked tool pieces respectively.
Put down the balancing device and let it
rest on the frame.
Action
Note
When jogging the axis-2 into position check
that the balancing device ear and the ear
on the lower arm is not colliding!
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4.8.2 Replacing the axis-2 gearbox
Note
Dismantle and mounting tool:
3HAC028920-001
Hydraulic pump 70 MPa: 3HAC13086-1
Hydraulic cylinder: 3HAC11731-1
A
4
B
xx1200001280
xx1200001281
Note
4 Repair
Continued
Continues on next page
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