ABB Robotics IRB 6790 Product Manual page 560

4 Repair
4.8.2 Replacing the axis-2 gearbox
Continued
Removing and lifting away the lower and upper arms un-separated (Step 2)
Use this procedure for the second step to remove and lift the lower and upper arm
un-separated.
1
2
3
4
5
Continues on next page
560
Action
Put two pallets on the floor, in front of the
position of the mechanical stop.
Note
Using the method to replace the gearbox
with cable harness and DressPack fitted,
is only a recommendation. If it is not pos-
sible 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.
CAUTION
The lower and upper arms together weigh
510 kg.
All lifting accessories used must be sized
accordingly!
Use caution and remove the remaining
screw and slowly lift away the lower and
upper arm together.
Let the cabling run in the lower arm. Make
sure not to stretch any cabling!
CAUTION
Use extreme caution when lifting the upper
arm. The cable harness is still partly con-
nected.
Use a piece of wood or similar as a support
under the arm house when the arm system
is put down on the pallets.
This is done in order not to damage any
parts of the cable harness and DressPack.
Use caution and lift the arm system and lay
it down safely on the pallets.
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Note
xx1300000790
Product manual - IRB 6790
3HAC063331-001 Revision: B