963.2 Maintenance schedule and expected component life ...............................................
963.2.1 Specification of maintenance intervals ........................................................
973.2.2 Maintenance schedule .............................................................................
993.2.3 Expected component life .........................................................................
1003.3 Inspection activities ...........................................................................................
1003.3.1 Inspecting the oil level in axis-1 gearbox .....................................................
1033.3.2 Inspecting the oil level in axis-2 gearbox .....................................................
1053.3.3 Inspecting the oil level in axis-3 gearbox .....................................................
1073.3.4 Inspecting the oil level in axis-4 gearbox .....................................................
1093.3.5 Inspecting the oil level in axis-5 gearbox .....................................................
1113.3.6 Inspecting the oil level in axis-6 gearbox .....................................................
1143.3.7 Inspecting the balancing device ................................................................
1183.3.8 Inspecting the cable harness ....................................................................
1203.3.9 Inspecting the axis-1 mechanical stop pin ...................................................
1223.3.10 Inspecting the additional mechanical stops .................................................
1243.3.11 Inspecting the fork lift accessory ................................................................
1263.3.12 Inspecting the dampers ...........................................................................
1283.3.13 Inspecting the leak flow (overpressure unit) in the system ..............................
1303.4 Analyzing activities ............................................................................................
1303.4.1 Analyzing the water content in gearbox oil ...................................................
1313.5 Replacement/changing activities ..........................................................................
1313.5.1 Type of lubrication in gearboxes ................................................................
1323.5.2 Changing oil, axis-1 gearbox .....................................................................
1373.5.3 Changing oil, axis-2 gearbox .....................................................................
1423.5.4 Changing oil, axis-3 gearbox .....................................................................
1463.5.5 Changing oil, axis-4 gearbox .....................................................................
1503.5.6 Changing oil, axis-5 gearbox .....................................................................
1543.5.7 Changing oil, axis-6 gearbox .....................................................................
1583.5.8 Replacing the SMB battery .......................................................................
1613.6 Cleaning activities .............................................................................................
1613.6.1 Cleaning the IRB 6790 .............................................................................
1654 Repair
1654.1 Introduction ......................................................................................................
1664.2 General procedures ...........................................................................................
1664.2.1 Performing a leak-down test ......................................................................
1674.2.2 Mounting instructions for bearings .............................................................
1694.2.3 Mounting instructions for sealings ..............................................................
1724.2.4 Dismantle and mounting tool, 3HAC028920-001 ............................................
1734.2.5 Painting damaged nickel coated surfaces with touch up paint .........................
1744.2.6 The brake release buttons may be jammed after service work .........................
1754.3 Lifting associated procedures ..............................................................................
1754.3.1 Attaching lifting accessories to complete arm system ....................................
1794.3.2 Attaching lifting accessories to an un-separated lower and upper arm ...............
1844.3.3 Attaching lifting accessories to the upper arm ...............................................
1874.4 Complete robot .................................................................................................
1874.4.1 Removing the cable harness ....................................................................
2094.4.2 Refitting the cable harness .......................................................................
2404.4.3 Replacing the SMB .................................................................................
2474.4.4 Replacing the brake release unit ...............................................................
2534.5 Upper and lower arms ........................................................................................
2534.5.1 Replacing the upper arm ..........................................................................
2894.5.2 Replacing the wrist .................................................................................
3114.5.3 Replacing the turning disc ........................................................................
3164.5.4 Replacing the lower arm ..........................................................................
3674.6 Frame and base ................................................................................................
3674.6.1 Replacing spherical roller bearing, link ear ...................................................
3824.6.2 Replacing the balancing device .................................................................
3994.6.3 Replacing the rear bearings on the balancing device .....................................
6 Product manual - IRB 6790
3HAC063331-001 Revision: B
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