ABB Robotics IRB 6790 Product Manual page 546

4 Repair
4.8.2 Replacing the axis-2 gearbox
Continued
Equipment, etc.
Aligning tool
Guide pin, M10x150
Lifting accessory, gearbox
Hydraulic cylinder
Hydraulic pump 70 MPa
Leak-down tester
Calibration tool box, Axis
Calibration
Standard toolkit
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-2 gearbox
Use these procedures to remove the gearbox.
Continues on next page
546
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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Article number Note
3HAC046645-003 Used for aligning the gearbox against
the frame, so that the play in the motor
does not need to be adjusted.
3HAC15521-2 Always use guide pins in pairs.
3HAC046128-001
3HAC11731-1 To be used with the press tool.
3HAC13086-1 To be used with the hydraulic cylinder.
-
3HAC055412-001 Delivered as a set of calibration tools.
- Content is defined in section
toolkit on page
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
Standard
652.
Note
Reference calibration
624.
Product manual - IRB 6790
3HAC063331-001 Revision: B