ABB Robotics IRB 1100 Product Manual page 112

5 Repair
5.3.1 Replacing the upper cable package
Continued
Equipment
Acoustic tensiometer
Tensiometer
M3x25 eye bolt
J5.C2 connector assembly tool
i
Required consumables
Consumable
Cable straps
Grease
Locking liquid
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
112
The robot is calibrated by either manual calibration or Axis Calibration at factory. Always use the
same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, manual calibration is used as default.
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 20192020 ABB. All rights reserved.
Article number Note
- Used for measuring the timing
belt tension.
- Used for measuring the timing
belt tension.
- Included in the special toolkit
3HAC071022-001.
- Included in the special toolkit
3HAC071022-001.
Used to remove and refit the
J5.C2 connector, if the Ethernet
cabling is equipped.
Article number Note
-
3HAC029132-001 FM 222
3HAB7116-1 Loctite 243
Note
Note
Calibrating axis 6 always requires tools to
be removed from the mounting flange (also
for reference calibration) since the mount-
ing flange is used for installation of the
calibration tool.
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
Reference calibration
570.
Product manual - IRB 1100
3HAC064992-001 Revision: C