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4.6.4
Unloading the balancing device .................................................................
4.6.5
Restoring the balancing device .................................................................
4.6.6
Replacing the stop pin .............................................................................
4.7
Motors ............................................................................................................
4.7.1
Replacing the axis-1 motor .......................................................................
4.7.2
Replacing the axis-2 motor .......................................................................
4.7.3
Replacing the axis-3 motor .......................................................................
4.7.4
Replacing the axis-4 motor .......................................................................
4.7.5
Replacing the axis-5 motor .......................................................................
4.7.6
Replacing the axis-6 motor .......................................................................
4.8
Gearboxes .......................................................................................................
4.8.1
Replacing the axis-1 gearbox ....................................................................
4.8.2
Replacing the axis-2 gearbox ....................................................................
4.8.3
Replacing the axis-3 gearbox ....................................................................
4.8.4
Replacing the axis-6 gearbox ....................................................................
5
5.1
Introduction to calibration ...................................................................................
5.1.1
Introduction and calibration terminology ......................................................
5.1.2
Calibration methods .................................................................................
5.1.3
When to calibrate ...................................................................................
5.2
Synchronization marks and axis movement directions .............................................
5.2.1
Synchronization marks and synchronization position for axes .........................
5.2.2
Calibration movement directions for all axes ................................................
5.3
Updating revolution counters ...............................................................................
5.4
Calibrating with Axis Calibration method ...............................................................
5.4.1
Description of Axis Calibration ..................................................................
5.4.2
Calibration tools for Axis Calibration ...........................................................
5.4.3
Installation locations for the calibration tools ...............................................
5.4.4
Axis Calibration - Running the calibration procedure ......................................
5.4.5
Reference calibration ...............................................................................
5.5
Verifying the calibration ......................................................................................
5.6
Checking the synchronization position ..................................................................
6
6.1
Environmental information ..................................................................................
6.2
Scrapping of robot .............................................................................................
6.3
Decommissioning of balancing device ...................................................................
7
7.1
Introduction ......................................................................................................
7.2
Applicable standards .........................................................................................
7.3
Unit conversion .................................................................................................
7.4
Screw joints ....................................................................................................
7.5
Weight specifications .........................................................................................
7.6
Standard toolkit ................................................................................................
7.7
Special tools ....................................................................................................
7.8
Lifting accessories and lifting instructions ..............................................................
8
8.1
Spare part lists and illustrations ...........................................................................
9
9.1
Circuit diagrams ................................................................................................
Product manual - IRB 6790
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
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