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4.3.5
Attaching lifting accessories to the upper arm ...............................................
4.4
Complete robot .................................................................................................
4.4.1
Removing the cable harness ....................................................................
4.4.2
Refitting the cable harness .......................................................................
4.4.3
Replacing the SMB .................................................................................
4.4.4
Replacing the brake release unit ...............................................................
4.5
Upper and lower arms ........................................................................................
4.5.1
Replacing the upper arm ..........................................................................
4.5.2
Replacing the wrist .................................................................................
4.5.3
Replacing the turning disc ........................................................................
4.5.4
Replacing the process turning disc .............................................................
4.5.5
Replacing the lower arm ..........................................................................
4.6
Frame and base ................................................................................................
4.6.1
Replacing spherical roller bearing, link ear ...................................................
4.6.2
Replacing the balancing device .................................................................
4.6.3
Replacing the rear bearings on the balancing device .....................................
4.6.4
Unloading the balancing device .................................................................
4.6.5
Restoring the balancing device .................................................................
4.6.6
Replacing the stop pin .............................................................................
4.7
Motors ............................................................................................................
4.7.1
Replacing the axis-1 motor .......................................................................
4.7.2
Replacing the axis-2 motor .......................................................................
4.7.3
Replacing the axis-3 motor .......................................................................
4.7.4
Replacing the axis-4 motor .......................................................................
4.7.5
Replacing the axis-5 motor .......................................................................
4.7.6
Replacing the axis-6 motor .......................................................................
4.8
Gearboxes .......................................................................................................
4.8.1
4.8.2
4.8.3
4.8.4
4.8.5
Replacing the axis-3 gearbox ....................................................................
4.8.6
Replacing the axis-6 gearbox ....................................................................
5
5.1
Introduction to calibration ...................................................................................
5.1.1
Introduction and calibration terminology ......................................................
5.1.2
Calibration methods .................................................................................
5.1.3
When to calibrate ...................................................................................
5.2
Synchronization marks and axis movement directions .............................................
5.2.1
Synchronization marks and synchronization position for axes .........................
5.2.2
Calibration movement directions for all axes ................................................
5.3
Updating revolution counters ...............................................................................
5.4
Calibrating with Axis Calibration method ...............................................................
5.4.1
Description of Axis Calibration ..................................................................
5.4.2
Calibration tools for Axis Calibration ...........................................................
5.4.3
Installation locations for the calibration tools ...............................................
5.4.4
Axis Calibration - Running the calibration procedure ......................................
5.5
Calibrating with Calibration Pendulum method ........................................................
5.6
Verifying the calibration ......................................................................................
5.7
Checking the synchronization position ..................................................................
6
6.1
Environmental information ..................................................................................
6.2
Scrapping of robot .............................................................................................
6.3
Decommissioning of balancing device ...................................................................
Product manual - IRB 6700
3HAC044266-001 Revision: N
© Copyright 2013 - 2018 ABB. All rights reserved.
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