ABB Robotics IRB 6790 Product Manual page 504

4 Repair
4.8.1 Replacing the axis-1 gearbox
Continued
Required documents
Document name
Technical reference manu-
al - Lubrication in gearboxes
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 axis-1 gearbox
These procedures describe how to remove the gearbox.
Preparations before removing the axis-1 gearbox
Use this procedure to do the necessary preparations, before removing the axis-1
gearbox.
1
2
3
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504
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.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
Remove tools and other equipment fitted on
the turning disc.
Begin draining the axis-1 gearbox.
© Copyright 2019 - 2020 ABB. All rights reserved.
Document number
3HAC042927-001
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
This is done to achieve the best stability
of the complete arm system when it is
resting by itself, after it has been re-
moved.
See Draining the axis-1 gearbox on
page 133.
Note
Reference calibration
624.
Product manual - IRB 6790
3HAC063331-001 Revision: B