ABB Robotics IRB 6790 - Page 176

NoteArticle numberEquipment, etc.
M123HAC16131-1Lifting eye
Outer diameter: minimum 26 mm,
maximum 30 mm, hole diameter: 13
mm, thickness: 3 mm.
-Fender washer
SA-10-8-NA1-Lifting shackle
Length: 1.5 m. Lifting capacity: 2,000
kg.
-Roundsling, 1.5 m
Length: 1 m, lifting capacity: 1,000 kg.-Roundsling, 1 m
Lifting instruction 3HAC15880-2 en-
closed.
3HAC15556-1Lifting accessory (chain)
Content is defined in section Standard
toolkit on page 652.
-Standard toolkit
Attaching the lifting accessories
Robot position
Use this procedure to jog the robot into position.
NoteAction
xx1200001132
Jog the robot into position:
• Axis 1: no significance as long as the robot
is secured to the foundation.
• Axis 2: -40°
• Axis 3: +65° (approximately)
• Axis 4: calibration position (0°)
• Axis 5. +90°
• Axis 6: calibration position (0°)
1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the robot working
area.
2
Continues on next page
176 Product manual - IRB 6790
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.3.1 Attaching lifting accessories to complete arm system
Continued