ABB IRB 6620 Product Manual page 273

Equipment, etc.
Support, base and
gear axis 1
Guide pins (M16x300)
Guide pins (M16x250)
Lifting tool
Lifting tool
Lifting eye (2 pcs)
Grease
Standard tools
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these proced-
ures 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
Product manual - IRB 6620
3HAC027151-001 Revision: W
Spare part no.
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.
4.7.1 Replacement gearbox axis 1
Art. no. Note
3HAC15535-1 Consists of 4 pcs.
3HAC13120-5 Always use guiding pins in
pairs.
3HAC13120-4 Always use guiding pins in
pairs
3HAC026597-001 Instruction 3HAC026600-
002 is enclosed.
3HAC15556-1 Used to lift gearbox axis 1
and frame.
3HAC025333-005 Used together with lifting
tool 3HAC15556-1.
3HAC042536-001 For lubricating o-rings.
- Content is defined in sec-
tion Standard tools on
page 340.
These procedures include
references to the tools re-
quired.
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 Reference calibration
routine on page 312.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Continues on next page
4 Repair
Continued
273