ABB IRB 6700Inv Series Product Manual page 560

4 Repair
4.8.2 Replacing the axis-1 gearbox
Continued
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-1 gearbox
These procedures describe how to remove the gearbox.
Securing the lower arm
Use this procedure to secure the lower arm.
1
2
Continues on next page
560
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
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
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Product manual - IRB 6700Inv
3HAC058254-001 Revision: L