ABB IRB 920 Product Manual page 627

Equipment
24 VDC power supply
Sonic tension meter
Handheld dynamometer
Required consumables
Consumable
Cable straps
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 transmission module
Use these procedures to remove the transmission module.
Preparations before removing the transmission module
1
Product manual - IRB 920
3HAC075721-001 Revision: C
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 2022 ABB. All rights reserved.
5.6.10 Replacing the transmission module
Article number Note
- Used to release the motor brakes.
- Used for measuring the timing
belt tension.
- Used for measuring the timing
belt tension.
Article number Note
-
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
Note
5 Repair
Continued
Reference calibration
957.
Continues on next page
627