ABB Robotics IRB 6790 - Page 7

4114.6.4 Unloading the balancing device .................................................................
4154.6.5 Restoring the balancing device .................................................................
4184.6.6 Replacing the stop pin .............................................................................
4224.7 Motors ............................................................................................................
4224.7.1 Replacing the axis-1 motor .......................................................................
4344.7.2 Replacing the axis-2 motor .......................................................................
4474.7.3 Replacing the axis-3 motor .......................................................................
4604.7.4 Replacing the axis-4 motor .......................................................................
4724.7.5 Replacing the axis-5 motor .......................................................................
4874.7.6 Replacing the axis-6 motor .......................................................................
5014.8 Gearboxes .......................................................................................................
5014.8.1 Replacing the axis-1 gearbox ....................................................................
5424.8.2 Replacing the axis-2 gearbox ....................................................................
5764.8.3 Replacing the axis-3 gearbox ....................................................................
6024.8.4 Replacing the axis-6 gearbox ....................................................................
6135 Calibration
6135.1 Introduction to calibration ...................................................................................
6135.1.1 Introduction and calibration terminology ......................................................
6145.1.2 Calibration methods .................................................................................
6165.1.3 When to calibrate ...................................................................................
6175.2 Synchronization marks and axis movement directions .............................................
6175.2.1 Synchronization marks and synchronization position for axes .........................
6185.2.2 Calibration movement directions for all axes ................................................
6195.3 Updating revolution counters ...............................................................................
6235.4 Calibrating with Axis Calibration method ...............................................................
6235.4.1 Description of Axis Calibration ..................................................................
6265.4.2 Calibration tools for Axis Calibration ...........................................................
6285.4.3 Installation locations for the calibration tools ...............................................
6295.4.4 Axis Calibration - Running the calibration procedure ......................................
6345.4.5 Reference calibration ...............................................................................
6365.5 Verifying the calibration ......................................................................................
6375.6 Checking the synchronization position ..................................................................
6396 Decommissioning
6396.1 Environmental information ..................................................................................
6416.2 Scrapping of robot .............................................................................................
6426.3 Decommissioning of balancing device ...................................................................
6457 Reference information
6457.1 Introduction ......................................................................................................
6467.2 Applicable standards .........................................................................................
6477.3 Unit conversion .................................................................................................
6487.4 Screw joints ....................................................................................................
6517.5 Weight specifications .........................................................................................
6527.6 Standard toolkit ................................................................................................
6537.7 Special tools ....................................................................................................
6577.8 Lifting accessories and lifting instructions ..............................................................
6598 Spare parts
6598.1 Spare part lists and illustrations ...........................................................................
6619 Circuit diagrams
6619.1 Circuit diagrams ................................................................................................
663Index
Product manual - IRB 6790 7
3HAC063331-001 Revision: B
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