ABB IRB 6730 Product Manual page 451

Equipment
Standard toolkit
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 gearbox
These procedures describe how to remove the gearbox.
Removing tools and equipment from the turning disc
1
Product manual - IRB 6730
3HAC085699-001 Revision: B
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
Remove tools and other equipment fitted on the
turning disc.
DressPack can stay fitted for the time being.
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5.9.1 Replacing the axis-1 gearbox
Article number Note
- Content is defined in section
Standard toolkit on page
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
This is done to achieve the best
stability of the complete arm sys-
tem, when it is resting by itself after
removal.
5 Repair
Continued
648.
Reference calibration
614.
Continues on next page
451