ABB IRB 6620LX Product Manual page 186

4 Repair
4.3.1 Replacing the robot
Continued
2
3
4
5
6
Replacing the robot
1
Adjusting the replacing robot to align with the marked target
1
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186
Action
Aim the robot and choose a target.
Note
Aim the robot in a way so that any adjustment on
the robot foot to the axis 1 carrier makes a big
difference on where the laser is aimed. The dis-
tance from the laser pointer to where the laser is
aimed has to be at least 2 m. The accuracy will
be increased if the distance is increased.
Program two MoveAbsJ positions. The last as the
fine position used for the adjustment and the first
as a preposition.
Note
Make sure all axes are included in the preposition
movement as it eliminates any gear lash.
Run the preposition and the fine position re-
peatedly and ensure that the laser point is in the
same position when the fine point is reached.
Mark a target where the laser point is aimed when
the fine position has been reached.
Carefully remove the laser adjustment kit from
the robot.
Note
Make sure not to change the position of the Cal-
point laser pointer in relation to the turning disc.
Action
Replace the robot and update the system with the
correct calibration offset for axis 2-6.
Action
Carefully attach the laser adjustment kit to the
replacing robot.
Note
Make sure not to change the position of the Cal-
point laser pointer in relation to the turning disc.
© Copyright 2009-2018 ABB. All rights reserved.
Note
xx1700001007
Note
See Lifting the robot with lifting and
turning tool on page 74.
Note
Product manual - IRB 6620LX
3HAC035737-001 Revision: P