ABB IRB 8700 Series Product Manual page 616

4 Repair
4.7.5 Replacing the axis-6 motor
Continued
Required consumables
Consumable
Grease
Flange sealant
Cable ties
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 motor
Use these procedures to remove the motor.
Preparations before removing the axis-6 motor
1
Continues on next page
616
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 2015-2018 ABB. All rights reserved.
Article number Note
3HAC063069-001 Castrol Molub. Alloy 777-1 NG, 5
ml. To be used on hub splines to
prevent from fretting corrosion.
12340011-116 Loctite 574
-
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
Reference calibration
806.
Product manual - IRB 8700
3HAC052853-001 Revision: F