ABB IRB 6620 Product Manual page 213

Equipment, etc.
Retrofit set Foundry Plus,
upper arm axis 4
Roundsling
Grease
Standard toolkit
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
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
Removal
The procedure below details how to remove the wrist unit.
1
2
Product manual - IRB 6620
3HAC027151-001 Revision: W
Spare part no.
See
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.
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.
Move the robot to a suitable position for removal of
the wrist unit.
© Copyright 2006-2020 ABB. All rights reserved.
4.4.2 Replacement of wrist unit
Art. no.
Spare part lists
345.
-
3HAB 3537-1
-
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
Used to lubricate o-rings.
Content is defined in sec-
tion Standard tools on
page 340.
These procedures include
references to the tools re-
quired.
Reference calibration
312.
Note
Continues on next page
213