ABB IRB 6730 Product Manual page 284

5 Repair
5.6.1 Replacing the wrist
Continued
Required service parts
Consumable
Connection box
cover MT100X with
gasket
Connection box
cover with gasket
Wrist cover
Cable strap, out-
door
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 wrist
Use these procedures to remove the wrist.
Preparations before removing the wrist
1
2
Continues on next page
284
Article number
3HAC079381-003 (Graphite White)
3HAC079381-004 (ABB Orange)
3HAC072863-003
3HAC078635-004 (Graphite White)
3HAC078635-005 (ABB Orange)
3HAC057966-003
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 begin-
ning the repair procedure.
Remove tools and other equipment fitted
to the wrist.
© Copyright 2023 ABB. All rights reserved.
Note
Replace if damaged.
On axis-6 motor
Replace if damaged.
On axis-5 motor
Replace if damaged.
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 614.
Note
Product manual - IRB 6730
3HAC085699-001 Revision: B