ABB IRB 1010 Product Manual page 168

5 Repair
5.4.1 Replacing the base
Continued
Removing the base
Use these procedures to remove the base.
Preparations before removing the base
1
2
3
Disconnecting the SMB connectors
1
Continues on next page
168
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.
Jog the robot to the synchronization position.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
Action
DANGER
Make sure that all supplies for electrical power,
hydraulic pressure, and air pressure are turned
off.
© Copyright 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 Product manual - IRB
4600.
Note
xx2200000173
Note
Product manual - IRB 1010
3HAC081964-001 Revision: B