ABB IRB 6620LX Product Manual page 215

Equipment, etc.
Standard toolkit
Other tools and proced-
ures may be required.
See references to
these procedures in
the step-by-step in-
structions 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
Removal
The procedure below details how to remove the upper arm.
1
2
Product manual - IRB 6620LX
3HAC035737-001 Revision: P
Spare part no.
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.
Lift away the robot from the track using the
lifting and turning tool 3HAC034648-001.
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4.4.3 Replacement of the upper arm
Art. no. Note
- Content is defined in sec-
tion Standard tools on
page
These procedures include
references to the tools re-
quired.
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 Reference calibration
routine on page 321.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
This is detailed in section
cedure suspended on page
Continues on next page
4 Repair
Continued
348.
Dismantle pro-
81.
215