ABB Robotics IRB 6790 Product Manual page 604

4 Repair
4.8.4 Replacing the axis-6 gearbox
Continued
Removing the axis-6 gearbox
Use these procedures to remove the axis-6 gearbox.
Preparations before removing the axis-6 gearbox
1
2
3
4
5
6
7
Continues on next page
604
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
Drain the gearbox.
Remove all equipment fitted on the turning
disc.
Jog the robot to:
• Axis 1 = No significance (as long as
the robot is secured to the founda-
tion).
• Axis 2 = +25°
• Axis 3 = +20°
• Axis 4 = 0°
• Axis 5 = -55°
• Axis 6 = -10°
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
Remove the synchronization plate axis-6.
© Copyright 2019 - 2020 ABB. All rights reserved.
Note
See Draining the axis-6 gearbox on
page 154.
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Product manual - IRB 6790
3HAC063331-001 Revision: B