ABB IRB 6730 Product Manual page 589

Required tools and equipment
Equipment
Guide pin, M6x150
Brake release tool
Rotation tool M3
Calibration toolbox, Axis Calibra-
tion
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
Use these procedures to remove the axis-6 gearbox.
Preparations before removing the axis-6 gearbox
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
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
© Copyright 2023 ABB. All rights reserved.
5.9.4 Replacing the axis-6 gearbox
Article number Note
3HAC080345-001 Always use guide pins in pairs.
3HAC081310-001 User instructions are enclosed
with the tool.
3HAB7887-1 Used to rotate the motor pinion.
Add screw M3.
3HAC074564-001 Delivered as a set of calibration
(axes 1, 2, 3 and 4) tools.
3HAC074119-001 Required if Axis Calibration is the
(axes 5 and 6) valid calibration method for the
robot.
- 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
5 Repair
Continued
648.
Reference calibration
614.
Continues on next page
589