ABB IRB 6650S Series Product Manual page 370

4 Repair
4.7.2 Replacement of gearbox axis 2
Continued
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
Removal, gearbox axis 2
The procedure below details how to remove the gearbox, axis 2.
1
2
3
4
Continues on next page
370
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 beginning the repair
procedure.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Secure the lower arm with the special fixture equip-
ment according to section
on page 292.
Unload the balancing device shaft by using the press
tool, balancing device, according to section
ing the balancing device using hydraulic press tool
on page 313!
© Copyright 2004-2018 ABB. All rights reserved.
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
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Securing the lower arm
Unload-
Reference calibration
402.
Note
Art. no. is specified in Required
equipment on page 369!
Product manual - IRB 6650S
3HAC020993-001 Revision: Z