ABB IRB 6700 Series Product Manual page 704

4 Repair
4.8.4 Replacing the axis-2 gearbox (IRB 6700 - 300/2.70, IRB 6700 - 245/3.00)
Continued
Equipment, etc
O-ring
O-ring
O-ring
VK cover
Locking liquid (Loctite 2701)
i
Required documents
Document name
Technical reference manu-
al - Lubrication in gearboxes
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
Removing the axis-2 gearbox
Use these procedures to remove the gearbox.
Continues on next page
704
i
The cross-section profile is either circular or hexagon. If only ordering the o-ring, order the same
profile that is currently installed in the connection box.
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
3HAB3772-107
3HAB3772-111 (circular pro-
file) / 3HAC054692-002
(hexagon profile)
3HAB3772-144
3HAA2166-28
-
Document number
3HAC042927-001
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
D=102x3
Used on motor flange.
D=169.5x3
Used on motor cover.
D=309.3x3.1
Used on gearbox.
VK 28x7
Note
Reference calibration
799.
Product manual - IRB 6700
3HAC044266-001 Revision: N