ABB IRB 6620 Product Manual page 224

4 Repair
4.4.4 Replacement of lower arm
Continued
Required equipment
Equipment, etc.
Lower arm
Grease
Lifting tool
Lifting chain
Hoisting block
Roundslings
Guiding pins
Standard toolkit
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these pro-
cedures in the step-
by-step instructions
below.
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
Continues on next page
224
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.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
© Copyright 2006-2020 ABB. All rights reserved.
Art no.
345.
3HAC042536-001
3HAC026597-001
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-
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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.
Note
Used to lubricate o-rings.
Instruction 3HAC026600-
002 is enclosed.
Always use in pairs.
Content is defined in sec-
tion Standard tools on
page 340.
These procedures include
references to the tools re-
quired.
Reference calibration
312.
Product manual - IRB 6620
3HAC027151-001 Revision: W