ABB IRB 6620LX Product Manual page 256

4 Repair
4.6.4 Replacement of motor, axis 4
Continued
Equipment, etc.
Calibration Pendulum toolkit
Calibration tool box, Axis Calibra-
tion
Other tools and procedures may
be required. See references 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
Removal, motor axis 4
The procedure below details how to remove the motor, axis 4.
1
Continues on next page
256
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 2009-2018 ABB. All rights reserved.
Art. no. Note
3HAC15716-1 Complete kit that also includes
operating manual.
Required if Calibration Pendulum
is the valid calibration method for
the robot.
3HAC055412-001 Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot.
These procedures include refer-
ences to the tools required.
3HAC024090-001 See chapter
page
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
Circuit diagram on
353.
Reference calibration
321.
Product manual - IRB 6620LX
3HAC035737-001 Revision: P