ABB IRB 6620 Product Manual page 280

4 Repair
4.7.1 Replacement gearbox axis 1
Continued
17
18
19
20
21
280
Action
Refit the cable harness, axes 1-2.
Refit motor, axis 1.
Fill oil in gearbox axis 1.
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 Replacement of cable
harness, lower end (axes 1-2) on page
Detailed in section Replacement of motor,
axis 1 on page 237.
Detailed in section Changing oil, axis-1
gearbox on page 147.
Pendulum Calibration is described in
Operating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page 311.
General calibration information is in-
cluded in section Calibration on page
Product manual - IRB 6620
3HAC027151-001 Revision: W
180.
Calibrat-
299.