Stainless steel fasteners
Due to robot protection type Foundry Prime, some of the attachment screws and
washers used on the robot are made of stainless steel. If damaged or lost, order
new items according to this table.
QuantityWashersScrewsEquipment to be
fastened
4 pcs8.4x16x1.6 Stainless SteelM8x30 Stainless SteelMotor, axis-4
3HAC060866-0023HAC060786-011
7 pcs-M5x12 Stainless steel A2-
70
Motor cover
9ADA619-44
Required tools and equipment
NoteArticle numberEquipment, etc.
Used to push out the motor, if neces-
sary.
Always use removal tools in pairs.
3HAC057339-002Removal tool M12
Always use guide pins in pairs.3HAC15520-2Guide pin, M8x150
Length: 140 mm.-Long AllenKeySocketIN19L
6-140
Used to rotate the motor pinion.3HAB7887-1Rotation tool
Used to release the motor brakes.-24 VDC power supply
-Leak-down tester
Delivered as a set of calibration tools.3HAC055412-001Calibration tool box, Axis
Calibration
Content is defined in section Standard
toolkit on page 652.
-Standard toolkit
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
NoteAction
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
1
Continues on next page
Product manual - IRB 6790 461
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.7.4 Replacing the axis-4 motor
Continued
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