ABB Robotics IRB 6790 - Page 341

NoteAction
CAUTION
The lower arm weighs 145 kg.
All lifting accessories used must be sized
accordingly.
3
Attach the lifting accessory to the lower
arm.
4
Wipe clean all contact surfaces.5
Securing the lower arm to the axis-2 gearbox
NoteAction
CAUTION
The lower arm weighs 145 kg.
All lifting accessories used must be sized
accordingly.
1
Lift the lower arm onto the guide pins and
slide it into position.
2
Rotation toolIn case the hole pattern of the lower arm
and gearbox does not match:
• Remove the motor cover.
• Apply the rotation tool on the motor
shaft.
• Connect the 24 VDC power supply.
• Release the brakes.
• Rotate pinion and gear with the rota-
tional tool until the holes matches.
Connect 24 VDC the power supply to con-
nector R2.MP2:
• + = pin 2
• - = pin 5
3
24 VDC power supply
xx1300000819
xx1300000790
Fit one attachment screw in one of the up-
per holes using it for security and lower the
lifting accessory a little.
4
Continues on next page
Product manual - IRB 6790 341
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the lower arm
Continued