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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
Removal, gearbox axis 3
The procedure below details how to remove gearbox, axis 3.
1
2
3
Product manual - IRB 6650S
3HAC020993-001 Revision: AG
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 accord-
ingly 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 upper arm in a horizont-
al position using round slings.
© Copyright 2004-2022 ABB. All rights reserved.
4.7.3 Replacement of gearbox, axis 3
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
380.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Art. no. is specified in
Required equipment on
page
353.
Continues on next page
4 Repair
Continued
Reference calibration
355
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