ABB IRB 8700 Series Product Manual page 681

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-2 gearbox.
Preparations
1
Product manual - IRB 8700
3HAC052853-001 Revision: F
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.
DANGER
Never remove both the axis-2 and axis-3 gearboxes at the same time.
One of the gearboxes must stay fitted when the other one is replaced, or the
complete arm system will not have any secure connection to the frame. A serious
accident will most probably happen.
Note
The attachment screws that secure the gearboxes are arranged in three areas,
with 15 screws in each area. It will not be possible to reach all screws with the
robot in only one position. Removal and refitting must be performed with the
robot in several positions, which are described in the procedures.
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.
4.8.3 Replacing the axis-2 gearbox
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 806.
Note
Continues on next page
4 Repair
Continued
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