ABB Robotics IRB 6790 Product Manual page 597

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Refitting cable brackets
This procedure is valid if the cabling has been kept installed in the upper arm,
when removing the upper arm from the robot. If the cable harness in the upper
arm instead has been removed completely, see
arm and wrist on page
Use this procedure to refit the cable brackets.
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Product manual - IRB 6790
3HAC063331-001 Revision: B
Action
CAUTION
Whenever parting/mating motor and gearbox,
the gears may be damaged if excessive force
is used.
Use caution and push the motor in position
while at the same time the motor pinion is
slightly rotated.
Pay attention to following points:
• Mate the motor pinion properly to the
gear of the gearbox.
• Do not damage the motor pinion.
Fit two of the attachment screws and wash-
ers.
Remove the guide pins.
Fit the remaining attachment screws and
washers.
Tighten the screws.
Remove the rotation tool.
Perform a leak-down test.
Disconnect the 24 VDC power supply.
224.
Action
Remove the lifting accessories.
Move the cable harness and DressPack
back to the correct side of the robot.
© Copyright 2019 - 2020 ABB. All rights reserved.
4.8.3 Replacing the axis-3 gearbox
Note
Screws: M10x30 Stainless Steel
(3HAC060786-020)
Washers: 13x17x2 Stainless Steel
(3HAC060866-003)
Screws: M10x30 Stainless Steel
(3HAC060786-020)
Washers: 13x17x2 Stainless Steel
(3HAC060866-003)
Tightening torque: 50 Nm
See Performing a leak-down test on
page 166.
Refitting the cable harness - upper
Note
Continues on next page
4 Repair
Continued
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