ABB IRB 760 Series Product Manual page 342

4 Repair
4.7.3 Replacing gearbox axis 6
Continued
Equipment
Grease
Guide pins
Standard toolkit
Other tools and propcedures
may be rquired. See refer-
ences to these procedures in
the step-by-step instructions
below.
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 gearbox axis 6
Use this procedure to remove gearbox axis 6.
1
2
Continues on next page
342
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.
Jog the robot to a position where the tilt-
house unit is placed in an appropriate ser-
vice position.
© Copyright 2011-2018 ABB. All rights reserved.
Art. no.
3HAB3537-1
-
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
Note
For lubricating o-ring
Always use guide pins in
pairs!
The content is defined in the
section Standard tools on
page 389.
These procedures include
references to the tools re-
quired.
Reference calibration
361.
Product manual - IRB 760
3HAC039838-001 Revision: M