ABB IRB 6700Inv Series Product Manual page 644

4 Repair
4.8.4 Replacing the axis-3 gearbox
Continued
Equipment, etc
O-ring
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-3 gearbox
Use these procedures to remove the axis-3 gearbox.
Preparations before removing the axis-3 gearbox
1
2
Continues on next page
644
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 the position:
• Axis-1: a position that allows best
possible access to fit the lifting ac-
cessories to the upper arm.
• Axis-2: -35
• Axis-3: -143 (so that the upper arm
is horizontal)
• Axis-4: 0°
• Axis-5: -90°
• Axis-6: 0°
© Copyright 2017 - 2020 ABB. All rights reserved.
Article number
3HAB3772-145
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
xx1700000450
Note
D=266.29x3.53
Used on gearbox.
Reference calibration
684.
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L