ABB IRB 8700 Product Manual page 340

4 Repair
4.5.6 Replacing the complete lower arm
Continued
Removing the complete lower arm
Use these procedures to remove the lower arm and parallel arm.
Preparations before removing the lower arm
1
2
Robot position when removing the counterweight
1
2
Continues on next page
340
Action
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 actions accordingly prior to begin-
ning the repair procedure.
Remove any tool or other equipment fitted
to the robot.
Action
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
© Copyright 2015-2020 ABB. All rights reserved.
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 Reference calibration
routine on page 702.
Note
Note
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Product manual - IRB 8700
3HAC052853-001 Revision: M