Axis 6 gearbox
Axis 3 gearbox
Axis 2 gearbox
Axis 1 gearbox
Axis 6 motor
Axis 5 motor
Axis 4 motor
Axis 3 motor
Axis 2 motor
Axis 1 motor
Rear bearing (balancing
device)
Spherical roller bearing
(link ear)
Balancing device
Turning disc
Wrist
Upper arm
Lower arm
Brake release unit
SMB
Cable harness
Tools and equipment with spare part number:
(These tools can be ordered from ABB)
xxxxxxxxxxxxx24 VDC power supply-
x
xx1700001659
Aligning tool3HAC046645-003
xxxLong AllenKeySocketIN19L 6-140-
xxxxxBits extender3HAC12342-1
xxxxxxxxxxxxxx
Calibration tool box, Axis
Calibration
iii
3HAC055412-001
x
xx1700002195
Guide for reduction gear3HAC043870-009
xxxxxxxxxxLeak-down tester-
xxxxLock screw, M16x120-
xxxxxxOil collecting vessel-
xxxxxxOil dispenser-
xxxxxPallet
x
xx1800001147
Pinion3HAC067546-001
xxxxxxxxxxxxRotation tool3HAB7887-1
IRB 6790 - 235/2.65, IRB 6790 - 205/2.80, IRB 6700 - 200/2.60, IRB 6700 - 155/2.85
Included in Dismantle and mounting tool (3HAC028920-001).
iii
The robot is calibrated by either Calibration Pendulum or Axis Calibration at factory. Always use the same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration menu on the FlexPendant.
Continues on next page
656 Product manual - IRB 6790
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
7 Reference information
7.7 Special tools
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