ABB Robotics IRB 6790 Product Manual page 6

Table of contents
3.2 Maintenance schedule and expected component life ...............................................
3.2.1 Specification of maintenance intervals ........................................................
3.2.2 Maintenance schedule .............................................................................
3.2.3 Expected component life .........................................................................
3.3 Inspection activities ...........................................................................................
3.3.1 Inspecting the oil level in axis-1 gearbox .....................................................
3.3.2 Inspecting the oil level in axis-2 gearbox .....................................................
3.3.3 Inspecting the oil level in axis-3 gearbox .....................................................
3.3.4 Inspecting the oil level in axis-4 gearbox .....................................................
3.3.5 Inspecting the oil level in axis-5 gearbox .....................................................
3.3.6 Inspecting the oil level in axis-6 gearbox .....................................................
3.3.7 Inspecting the balancing device ................................................................
3.3.8 Inspecting the cable harness ....................................................................
3.3.9 Inspecting the axis-1 mechanical stop pin ...................................................
3.3.10 Inspecting the additional mechanical stops .................................................
3.3.11 Inspecting the fork lift accessory ................................................................
3.3.12 Inspecting the dampers ...........................................................................
3.3.13 Inspecting the leak flow (overpressure unit) in the system ..............................
3.4 Analyzing activities ............................................................................................
3.4.1 Analyzing the water content in gearbox oil ...................................................
3.5 Replacement/changing activities ..........................................................................
3.5.1 Type of lubrication in gearboxes ................................................................
3.5.2 Changing oil, axis-1 gearbox .....................................................................
3.5.3 Changing oil, axis-2 gearbox .....................................................................
3.5.4 Changing oil, axis-3 gearbox .....................................................................
3.5.5 Changing oil, axis-4 gearbox .....................................................................
3.5.6 Changing oil, axis-5 gearbox .....................................................................
3.5.7 Changing oil, axis-6 gearbox .....................................................................
3.5.8 Replacing the SMB battery .......................................................................
3.6 Cleaning activities .............................................................................................
3.6.1 Cleaning the IRB 6790 .............................................................................
4 Repair
4.1 Introduction ......................................................................................................
4.2 General procedures ...........................................................................................
4.2.1 Performing a leak-down test ......................................................................
4.2.2 Mounting instructions for bearings .............................................................
4.2.3 Mounting instructions for sealings ..............................................................
4.2.4 Dismantle and mounting tool, 3HAC028920-001 ............................................
4.2.5 Painting damaged nickel coated surfaces with touch up paint .........................
4.2.6 The brake release buttons may be jammed after service work .........................
4.3 Lifting associated procedures ..............................................................................
4.3.1 Attaching lifting accessories to complete arm system ....................................
4.3.2 Attaching lifting accessories to an un-separated lower and upper arm ...............
4.3.3 Attaching lifting accessories to the upper arm ...............................................
4.4 Complete robot .................................................................................................
4.4.1 Removing the cable harness ....................................................................
4.4.2 Refitting the cable harness .......................................................................
4.4.3 Replacing the SMB .................................................................................
4.4.4 Replacing the brake release unit ...............................................................
4.5 Upper and lower arms ........................................................................................
4.5.1 Replacing the upper arm ..........................................................................
4.5.2 Replacing the wrist .................................................................................
4.5.3 Replacing the turning disc ........................................................................
4.5.4 Replacing the lower arm ..........................................................................
4.6 Frame and base ................................................................................................
4.6.1 Replacing spherical roller bearing, link ear ...................................................
4.6.2 Replacing the balancing device .................................................................
4.6.3 Replacing the rear bearings on the balancing device .....................................
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Product manual - IRB 6790
3HAC063331-001 Revision: B