ABB IRB 2600ID Product Manual page 367

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
Illustration of robot put down on its side
The robot is put down on its side for a safe removal of the axis-1 gearbox. Prepare
an area on the floor with cardboard, plastic foam or similar and prepare higher
support for the wrist.
Make sure the cabling brackets on the lower arm are unfastened and moved out
of the way so that the cabling is not getting squeezed.
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Product manual - IRB 2600
3HAC035504-001 Revision: AD
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.
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4.8.1 Replacing gearbox axis 1
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 413.
Continues on next page
4 Repair
Continued
367