ABB IRB 6700Inv Series Product Manual page 506

4 Repair
4.7.5 Replacing the axis-5 motor
Continued
Equipment, etc.
Leak-down tester
Calibration tool box, Axis
Calibration
Standard toolkit
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
Removing the axis-5 motor
Use these procedures to remove the motor.
Preparations before removing the axis-5 motor
1
2
Continues on next page
506
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.
Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
Jog the robot to this position:
• Axis 2: 0°
• Axis 3: To a suitable working posi-
tion for the operator to remove axis-
5 motor.
© Copyright 2017 - 2020 ABB. All rights reserved.
Article number Note
-
3HAC055412-001 Delivered as a set of calibration tools.
- Content is defined in section
toolkit on page
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
routine on page
Note
Standard
713.
Reference calibration
684.
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L