ABB OmniCore IRB 6720 Product Manual

NoteActionLifting accessory (chain):3HAC15556-1Attach the Lifting accessory (chain) to an over-head crane (or similar), then to the lifting eye inthe arm house and to a roundsling run throughthe wrist.11Roundsling, 1 mxx2200001619Adjust the chain lengths to make the lift as levelas possible.The figure shows an example oflifting chain lengths. Keep chain (a)shorter than chain (b).Raise the overhead crane to stretch the chainsand roundslings.12Verify that the roundsling between the wrist andthe lower arm is stretched.Loosening the cable bracketsUse this procedure to lift the lower and upper arm mounted together, with the cableharness and DressPack kept installed in the base and in the frame.NoteKeeping the cable harness and DressPack fitted on the robot during gearboxreplacement is only a recommendation. If it is not possible to put the lower andupper arm close enough to the robot, the cable harness and DressPack in thebase and in the frame must be removed first.Continues on next page488 Product manual - IRB 67203HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.8.2 Replacing the axis-2 gearboxContinued