ABB IRB 140 Product Manual page 182

4 Repair
4.7.2 Replacement of motor, axis 2
Continued
Equipment, etc.
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions 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 2
The procedure below details how to remove the axis 2 motor.
1
Continues on next page
182
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page
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 ac-
tions accordingly prior to beginning the repair proced-
ure.
© Copyright 2004-2018 ABB. All rights reserved.
Art. no. Note
These procedures include references to
the tools required.
- See chapter
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
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Circuit diagram on page
118.
Note
Product manual - IRB 140
3HAC027400-001 Revision: V
245.