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4 Repair
4.7.2 Replacement of gearbox axis 2
Continued
Removal, gearbox axis 2
The procedure below details how to remove the gearbox, axis 2.
1
2
3
4
5
6
7
Continues on next page
348
Action
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.
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
Secure the lower arm with the special fixture equip-
ment according to section
on page
274.
Unload the balancing device in order to make the
piston rod and front ear adjustable when pulling the
front shaft out.
DANGER
Handling the tool incorrectly will cause serious injury.
Read and follow enclosed user instructions for the
tool.
Drain the gearbox, axis 2.
Remove the motor, axis 2.
Remove the rear attachment screws, gearbox from
inside of the lower arm.
© Copyright 2004-2022 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
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Securing the lower arm
Reference calibration
380.
Note
Detailed in section
Unloading the
balancing device on page
Notice! Time-consuming activity!
Detailed in section
Changing oil,
axis-2 gearbox on page
156.
Detailed in section
Removal,
motor on page
306.
Shown in the figure
Location of
gearbox on page
346!
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
292.
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