ABB Robotics IRB 6790 - Page 263

NoteAction
xx1200001067
Remove the cable gland cover.
Make sure the gasket is not damaged.
Tip
Make a note in which direction the cable
gland hole is facing, if the motor will be re-
moved too. The motor shall be refitted in
the same position.
5
Use caution and pull out the motor cables.6
Removing the cable harness - wrist and upper arm
NoteAction
A
B
B
B
xx1700001802
A Cable protection
B Cable ties
Remove the cable protection by cutting the
cable ties and opening the zipper.
1
xx1200000045
Remove the cover.
Note
Use caution not to damage the gasket, not
to loose the washers on the cover sealing
or not to loose the inserts fitted on the
cover.
2
Continues on next page
Product manual - IRB 6790 263
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued