ABB IRB 6620 Product Manual page 222

4 Repair
4.4.3 Replacement of the upper arm
Continued
11
12
13
222
Action
Fill gearbox, axis 3 with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2006-2020 ABB. All rights reserved.
Note
Detailed in section Changing oil, axis-3
gearbox on page 153.
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section Calibration on page
Product manual - IRB 6620
3HAC027151-001 Revision: W
Calibrating
311.
299.