ABB OmniCore IRB 6740 Product Manual page 448

5 Repair
5.9.1 Replacing the axis-1 gearbox
Continued
Removing the gearbox
These procedures describe how to remove the gearbox.
Removing tools and equipment from the turning disc
1
Removing the covers for Foundry Plus and floor mounted robots
1
Continues on next page
448
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
Remove tools and other equipment fitted on the
turning disc.
Action
Protection type Foundry Plus
Remove the axis-1 cable protection plates by
removing the attachment screws.
© Copyright 2023 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 Reference calibration
routine on page 619.
Note
This is done to achieve the best
stability of the complete arm sys-
tem, when it is resting by itself after
removal.
Note
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Product manual - IRB 6740
3HAC085701-001 Revision: A