ABB IRB 8700 Product Manual page 244

4 Repair
4.5.1 Replacing the upper arm
Continued
Consumable
Scotch-Brite
Isopropanol
Glycerine
Locking liquid
Flange sealant
Rust preventive
Grease
Bearing grease
Required documents
Document
User instructions, upper arm shaft
press tools
User instructions, parallel rod shaft
press tools
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
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244
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 2015-2020 ABB. All rights reserved.
Article number Note
- Abrasive cleaning hand pads.
To be used to clean the axis-4
shafts.
-
3HAB7116-1 Loctite 243
12340011-116 Loctite 574
3HAC034903-001 Mercasol 3110 Waxcoat. Recom-
mended drying time is 24h.
3HAC042534-001 Tribol GR 100-0 PD
3HAC9408-1 Tribol GR 100-2 PD
Document number Note
3HAC069154-038 Enclosed with the toolkit.
3HAC071354-002 Enclosed with the toolkit.
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
Reference calibration
702.
Product manual - IRB 8700
3HAC052853-001 Revision: M