ABB IRB 1300 Product Manual page 589

Required consumables
Consumable
Cable straps
Grease
Lubricating oil
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 gearbox
Use these procedures to remove the axis-2 gearbox.
Preparations before removing the axis-2 gearbox
1
2
Product manual - IRB 1300
3HAC070390-001 Revision: G
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.
CAUTION
For robots with protection type Clean Room
Always cut the paint with a knife and grind the
paint edge when disassembling parts of the robot!
See Cut the paint or surface on the robot before
replacing parts on page
© Copyright 2020-2022 ABB. All rights reserved.
5.7.2 Replacing the axis-2 gearbox
Article number
-
3HAC029132-001
3HAC032140-001
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
145.
5 Repair
Continued
Note
FM 222
Kyodo Yushi TMO150
Note
Reference calibration
722.
Note
Continues on next page
589