ABB IRB 6620LX Product Manual page 243

Removal, motor
The procedure below details how to remove the motor, axis 2.
1
Product manual - IRB 6620LX
3HAC035737-001 Revision: P
Action
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 proced-
ure.
© Copyright 2009-2018 ABB. All rights reserved.
4.6.2 Replacement of motor axis 2
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 321.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Continues on next page
4 Repair
Continued
Reference calibration
243