ABB IRB 140 Product Manual page 193

Equipment, etc.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
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
Product manual - IRB 140
3HAC027400-001 Revision: V
Spare part no.
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.
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, and take
actions accordingly prior to beginning the repair
procedure.
© Copyright 2004-2018 ABB. All rights reserved.
4.7.4 Replacement of motor, axis 4, IRB 1600
Art. no. Note
These procedures include
references to the tools re-
quired.
See chapter
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
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Continues on next page
4 Repair
Continued
Circuit diagram
245.
118.
193