ABB CRB 1100 Product Manual page 536

5 Repair
5.7.6 Replacing the axis-6 motor
Continued
Equipment
Calibration tool box, Axis Calibra-
tion
24 VDC power supply
Sonic tension meter
Dynamometer
J5.C2 connector assembly tool
Required consumables
Consumable
Cable straps
Grease
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
536
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.
© Copyright 2021-2023 ABB. All rights reserved.
Article number Note
3HAC074119-001 Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot.
The tool box also includes a
unique calibration pin for CRB
1100 to be fitted to the tool flange
during calibration of axis 6.
- Used to release the motor brakes.
- Used for measuring the timing
belt tension.
- Used for measuring the timing
belt tension.
- Included in the special toolkit
3HAC071022-001.
Used to remove and refit the
J5.C2 connector, if the Ethernet
cabling is equipped.
Article number Note
-
3HAC029132-001 FM 222
Note
Note
Calibrating axis 6 always requires tools to
be removed from the mounting flange (also
for reference calibration) since the mount-
ing flange is used for installation of the
calibration tool.
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
Reference calibration
664.
Product manual - CRB 1100
3HAC078007-001 Revision: J