ABB IRB 6700 Series Product Manual page 572

4 Repair
4.7.6 Replacing the axis-6 motor
Continued
Required tools and equipment
Equipment, etc.
Removal tool M12
Rotation tool
24 VDC power supply
Leak-down tester
Calibration Pendulum toolkit
Calibration tool box, Axis
Calibration
Standard toolkit
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
Continues on next page
572
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.
© Copyright 2013 - 2018 ABB. All rights reserved.
Article number Note
3HAC057339-003 Used to push out the motor, if neces-
sary.
Always use removal tools in pairs.
3HAB7887-1 Used to rotate the motor pinion.
- Used to release the motor brakes.
-
3HAC15716-1 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.
- Content is defined in section
toolkit on 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.
Standard
829.
Reference calibration
799.
Product manual - IRB 6700
3HAC044266-001 Revision: N