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4 Repair
4.7.1 Replacing the axis 1 gearbox
Continued
Equipment, etc.
Lifting accessory, base
Lifting accessory (chain)
Guide pins
Calibration Pendulum toolkit
Calibration tool box, Axis
Calibration
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
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
Continues on next page
336
Art. no.
3HAC15560-1
3HAC15556-1
3HAC15716-1
3HAC055412-001
-
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.
© Copyright 2004-2022 ABB. All rights reserved.
Note
2 pcs, M16x150.
Used for guiding the gearbox into
place in the base.
Always use guide pins in pairs!
Complete kit that also includes op-
erating manual.
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the ro-
bot.
Content is defined in section
Standard tools on page
These procedures include refer-
ences to the tools required.
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
380.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
415.
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