ABB Robotics IRB 6790 Product Manual page 255

Equipment, etc.
Standard toolkit
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
Removing the upper arm
Use these procedures to remove the upper arm.
Preparations before removing the upper arm
1
2
Product manual - IRB 6790
3HAC063331-001 Revision: B
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.
Note
There is an alternative method to remove the upper arm if only the axis-3 gearbox
shall be replaced. This alternative method describes how to remove the upper
arm with the robot cable harness still partly fitted. See
gearbox on page 576.
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Jog the robot to a position where it is best
to remove tools and other equipment fitted
to wrist and upper arm.
© Copyright 2019 - 2020 ABB. All rights reserved.
Article number Note
- Content is defined in section
toolkit 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
Axis Calibration in
routine on page
Note
4 Repair
4.5.1 Replacing the upper arm
Continued
Standard
652.
Reference calibration
624.
Replacing the axis-3
Continues on next page
255