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5.9
Gears ..............................................................................................................
5.9.1
Replacing the axis-1 gearbox ....................................................................
5.9.2
Replacing the axis-2 gearbox ....................................................................
5.9.3
Replacing the axis-3 gearbox ....................................................................
5.9.4
Replacing the axis-6 gearbox ....................................................................
6
6.1
Introduction to calibration ...................................................................................
6.1.1
Introduction and calibration terminology ......................................................
6.1.2
Calibration methods .................................................................................
6.1.3
When to calibrate ...................................................................................
6.2
Synchronization marks and axis movement directions .............................................
6.2.1
Synchronization marks and synchronization position for axes .........................
6.2.2
Calibration movement directions for all axes ................................................
6.3
Updating revolution counters ...............................................................................
6.3.1
Updating revolution counters on OmniCore robots ........................................
6.4
Calibrating with Axis Calibration method ...............................................................
6.4.1
Description of Axis Calibration ..................................................................
6.4.2
Calibration tools for Axis Calibration ...........................................................
6.4.3
Installation locations for the calibration tools ...............................................
6.4.4
Axis Calibration - Running the calibration procedure ......................................
6.4.5
Reference calibration ...............................................................................
6.5
Verifying the calibration ......................................................................................
6.6
Checking the synchronization position ..................................................................
7
7.1
Introduction to troubleshooting ............................................................................
7.2
Oil and grease stains on motors and gearboxes ......................................................
7.3
Mechanical noise or dissonance ..........................................................................
7.4
Manipulator collapses on power down ...................................................................
8
8.1
Introduction to decommissioning .........................................................................
8.2
Environmental information ..................................................................................
8.3
Scrapping of robot .............................................................................................
8.4
Decommissioning of balancing device ..................................................................
9
9.1
Introduction ......................................................................................................
9.2
Applicable standards .........................................................................................
9.3
Unit conversion .................................................................................................
9.4
Screw joints ....................................................................................................
9.5
Weight specifications .........................................................................................
9.6
Standard toolkit ................................................................................................
9.7
Special tools ....................................................................................................
9.8
Lifting accessories and lifting instructions ..............................................................
Index
Product manual - IRB 6730
3HAC085699-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
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Table of Contents
Troubleshooting
