ABB IRB 6700Inv Series Product Manual page 275

Removing the upper arm
Use these procedures to remove the upper arm.
Preparations before removing the upper arm
1
2
3
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
Action
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.
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Remove the service stops from their park-
ing position.
Fit the service stops in maintenance posi-
tion.
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4.5.1 Replacing the upper arm
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 684.
Note
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Tightening torque: 70 Nm ±15 Nm.
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4 Repair
Continued
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