ABB IRB 6400R Product On-Line Manual page 365

Repairs
6.5 Parallel Arm ........................................................................................................... 33
6.6 Inner Bearing .......................................................................................................... 34
6.7 Outer Bearing ......................................................................................................... 35
6.8 Gearbox 1-3 including base.................................................................................... 36
6.9 Brake release unit ................................................................................................... 37
6.10 Replace Serial Measurement Board ..................................................................... 37
6.11 Replace Stop pin................................................................................................... 37
7 Cabling ............................................................................................................................. 39
7.1 Integrated Spot Weld Harness ................................................................................ 39
7.2 ................................................................................................................................ Robot
Harness / Customer Harness .................................................................................. 41
7.3 Cabling, axis 6........................................................................................................ 44
8 Options ............................................................................................................................ 47
8.1 Cooling axis 1......................................................................................................... 47
8.2 Position Switch axis 1 ............................................................................................ 47
8.3 Position Switch axes 2-3 ........................................................................................ 48
8.4 Signal Lamp ........................................................................................................... 48
8.5 Process Media Conduit........................................................................................... 49
8.6 Fork Lift Device ..................................................................................................... 50
9 Calibration....................................................................................................................... 51
9.1 General ................................................................................................................... 51
9.2 Calibration procedure ............................................................................................. 51
9.2.1 Calibrating axis 1, without the DynaCal System ......................................... 52
9.3 .Calibrating the robot with the DynaCal system .................................................... 53
10 Onboard Calibration .................................................................................................... 58
10.1 General ................................................................................................................. 58
10.2 Setup Onboard Calibration Equipment ................................................................ 59
10.3 Load the program on_board.prg. .......................................................................... 61
10.4 Check of Measurement System/Calibration......................................................... 62
10.4.1 Load Calibration Offset Value ................................................................... 67
11 Storing the values on the teach pendant ..................................................................... 68
11.1 Setting the calibration marks on the manipulator................................................. 71
11.2 Checking the calibration position ......................................................................... 74
11.3 Alternative calibration positions........................................................................... 74
12 Special Tools List........................................................................................................... 77
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Product Manual IRB 6400R