ABB IRB 1200 Product Manual page 497

4.5.1 Replacing the base spare parts (base, axis-1 radial sealing, protection sleeve)
Equipment
Sealant
Sealant
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 cabling
Before the spare parts of the base can be removed, the cable harness must be
removed from upper arm and down to the base. Use these procedures to remove
the cabling in order to access the base spare parts.
Preparations before removing the cabling
1
Product manual - IRB 1200
3HAC046983-001 Revision: S
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 beginning the repair
procedure.
© Copyright 2014 - 2021 ABB. All rights reserved.
Art. no. Note
3HAC026759-001 Sikaflex 521FC
For robots with protection type
Clean Room
For robots with food grade lubric-
ation
For robots with protection class
IP67
For robots with protection type
Foundry Plus
3HAC073510-001 Trans Clear
For robots with protection type
Hygienic
Note
Note
Calibrating axis 6 always requires tools to
be removed from the mounting flange (also
for reference calibration) since the mount-
ing flange is used for installation of the
calibration tool.
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
4 Repair
Continued
Reference calibration
819.
Continues on next page
497