ABB Robotics IRB 6790 Product Manual page 593

2
Securing the upper arm
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2
3
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Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
Fit two guide pins in opposite M12 holes
in the axis-3 gearbox.
Tip
Lubricate the guide pins with some grease
to make the upper arm slide better.
Action
CAUTION
The weight of the complete upper arm (in-
cluding the wrist) is 360 kg
All lifting accessories used must be sized
accordingly.
Attach the lifting accessories, if not already
fitted.
Lift the upper arm and put it on the guide
pins.
If the axis-3 motor is installed to the upper
arm:
In order to release the brakes, connect the
24 VDC power supply.
Connect to R2.MP3-connector:
• + = pin 2
• - = pin 5
Use the rotation tool and rotate the axis-3
motor to find the correct position for the
guide pins in the lower arm.
If the axis-3 motor is not installed to the
upper arm:
Use the pinion to rotate the axis-3 gearbox
to find the correct position for the guide
pins in the lower arm.
© Copyright 2019 - 2020 ABB. All rights reserved.
4.8.3 Replacing the axis-3 gearbox
Note
Guide pin, M12x150: 3HAC13056-2
Guide pin, M12x200: 3HAC13056-3
Always use guide pins in pairs.
xx1700000058
Note
See Attaching lifting accessories to the
upper arm on page 184.
24 VDC power supply
Rotation tool
Pinion: 3HAC067546-001
Continues on next page
4 Repair
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