ABB Robotics IRB 6790, Product Manual, Page: 489 / 668

Note Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the axis-6 motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
xx1200001081
Jog the robot to a position where axis 5
can be positioned with the motor pointing
straight up at an acceptable working posi-
tion.
With axis 5 in this position it is possible to
replace the motor without draining the oil
from the axis-6 gearbox. 2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
3
xx1700001593
Check the leak flow value on the flow
sensor.
Note the value to be able to compare it
when repair is completed. 4
Continues on next page
Product manual - IRB 6790 489
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.7.6 Replacing the axis-6 motor
Continued