ABB IRB 460 Series Product Manual page 269

Equipment, etc.
Rotation tool
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
Circuit diagram
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Removing the lower arm system
Use this procedure to remove the lower arm system.
1
Product manual - IRB 460
3HAC039842-001 Revision: P
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
© Copyright 2012-2018 ABB. All rights reserved.
4.4.9 Replacing the complete lower arm system
Art.no.
-
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
4 Repair
Continued
Note
Content is defined in section
Standard tools on page 383.
These procedures include
references to the tools re-
quired.
See Circuit diagrams on
page 391.
Reference calibration
358.
Continues on next page
269