ABB IRB 6620 Product Manual page 203

Equipment, etc.
Guide pins M12 x 130
Roundsling 1,5 m
Roundslings
Hoisting block
Lifting chain
Isopropanol
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
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.
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Product manual - IRB 6620
3HAC027151-001 Revision: T
Art. no.
3HAC022637-001
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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.
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4.3.3 Replacement of complete arm system
Note
Used to guide the complete arm system
when lifting it.
Always use the guide pins in pairs!
In order to make the refitting easier, it
is recommended to use two guide pins
of different lengths.
Lifting capacity 1,000 kg
Used to adjust the length of the lifting
chain.
Used together with the hoisting block.
Used for cleaning mounting surfaces.
Content is defined in section
tools on page 346.
These procedures include references
to the tools required.
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 320.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Continues on next page
4 Repair
Continued
Standard
Reference calibration
203