ABB Robotics IRB 6790 Product Manual page 580

4 Repair
4.8.3 Replacing the axis-3 gearbox
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Action
Jog the robot to:
• Axis 1 = No significance (as long as
the robot is secured to the founda-
tion).
• Axis 2 = -65°
• Axis 3 = maximum + position, upper
arm resting against the mechanical
stop (approximately +70°).
• Axis 4 = 0°
• Axis 5 = -90°
• Axis 6 = 0°
DANGER
When releasing the holding brakes of the
motor, the upper arm will be movable and
may fall down if not secured. Verify that the
upper arm is secured as previously de-
scribed, before continuing.
Release the holding brakes for the axis-3
motor to make the upper arm rest tightly
against the mechanical stop.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
Begin draining the gearbox.
Put two pallets on the floor, at the right-
hand side of the robot.
Note
This position is only a recommendation. If
it is not possible to put the upper arm close
enough to the robot and keep the cable
harness partly fitted, it may be necessary
to remove the cable harness and
DressPack in the upper arm and wrist first.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
If needed, run the axis-1 into a position that
gives the required space (space to place
two pallets in a row) at the right-hand side
of the balancing device, as seen from be-
hind.
xx1800000029
See Draining the axis-3 gearbox on
page 143.
Product manual - IRB 6790
3HAC063331-001 Revision: B