ABB Robotics IRB 6790, Product Manual, Page: 332 / 668

Note Action
xx1300000668
Tip
Use tape and tie the axis-5 and axis-6
connectors and carrier into a bundle (if not
already done). This is done to facilitate the
removal and to avoid damaging the parts.
This will also make it easier to run the cable
harness through the inside of the upper
arm.
4
xx1300000557
Remove the side cover on the arm tube. 5
xx1700001809
Unscrew the screws and remove the seal-
ing washers, holding the metal clamp inside
the arm tube. 6
xx1700001567
Remove the four nuts at the cable plate
between the wrist and the upper arm tube,
by reaching into the upper arm tube
through the arm tube side hole. 7
Continues on next page
332 Product manual - IRB 6790
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.5.4 Replacing the lower arm
Continued