ABB IRB 6620 Product Manual page 181

B
C
D
E
F
G
H
Required equipment
Equipment, etc.
Cable harness
Standard toolkit
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
Circuit diagram
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
Product manual - IRB 6620
3HAC027151-001 Revision: W
4.3.1 Replacement of cable harness, lower end (axes 1-2)
Top cover, connection box
Connection plate, base
Connector R1.SMB
Connector R1.MP
Metal clamps
Cable harness
Cable guide (cut away view)
Spare part no.
See Spare part
lists on page
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.
© Copyright 2006-2020 ABB. All rights reserved.
Art. no.
345.
-
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
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
4 Repair
Continued
Note
Content is defined in
section Standard tools on
page 340.
These procedures in-
clude references to the
tools required.
See chapter Circuit dia-
gram on page 347.
Reference calibration
312.
Continues on next page
181