ABB Robotics IRB 6790 Product Manual page 559

Removing and lifting away the lower and upper arms un-separated (Step 1)
Use this procedure for the first step of removing and lifting away the lower and
upper arm un-separated.
1
2
Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Remove two attachment screws in opposite
holes and replace them with guide pins.
Tip
Lubricate the guide pins with some grease
to make the lower arm slide better.
Remove all but one of the remaining attach-
ment screws that secure the lower arm to
the axis-2 gearbox.
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4.8.2 Replacing the axis-2 gearbox
Note
Guide pin, M16x150: 3HAC13120-2
Guide pin, M16x200: 3HAC13120-3
Always use guide pins in pairs.
xx1300000788
xx1300000789
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4 Repair
Continued
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