ABB IRB 6700Inv Series Product Manual page 340

4 Repair
4.5.5 Replacing the lower arm
Continued
Removing the lower arm
Use these procedures to remove the lower arm.
Preparations before removing the lower arm
1
2
3
Securing the lower arm
Use this procedure to secure the lower arm.
1
2
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340
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.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
Remove all equipment fitted to upper and
lower arms.
Action
Jog axis 2 to -35°.
Remove the transportation lock screw and the
yellow sleeve from the parking position.
© Copyright 2017 - 2020 ABB. All rights reserved.
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
Note
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Product manual - IRB 6700Inv
3HAC058254-001 Revision: L