ABB IRB 1010 - Page 298

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Calibration tools in contact

Axis 4Axis 3

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Axis 6Axis 5

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298 Product manual - IRB 1010

3HAC081964-001 Revision: B

6 Calibration

6.4.4 Axis Calibration - Running the calibration procedure

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Main Page

Table of Contents5
Overview of this Manual9
Product Documentation11
How to Read the Product Manual13
Safety15
Safety Information15
Limitation of Liability15
Requirements on Personnel16
Safety Signals and Symbols17
Safety Signals in the Manual17
Safety Symbols on Manipulator Labels19
Robot Stopping Functions25
Safety During Installation and Commissioning26
Safety During Operation28
Safety During Maintenance and Repair29
Emergency Release of the Robot Axes32
Brake Testing33
Safety During Troubleshooting34
Safety During Decommissioning35
Manipulator Description37
About IRB 101037
Technical Data38
Dimensions42
Working Range43
The Unit Is Sensitive to ESD45
Installation and Commissioning47
Introduction to Installation and Commissioning47
Unpacking48
Pre-Installation Procedure48
Risk of Tipping/Stability49
On-Site Installation50
Lifting the Robot50
Lifting the Robot by One Person50
Lifting and Rotating a Suspended Mounted Robot52
Orienting and Securing the Robot53
Manually Releasing the Brakes55
Setting the System Parameters for an Inverted or a Tilted Robot57
Loads Fitted to the Robot, Stopping Time and Braking Distances61
Fitting Equipment on the Robot (Robot Dimensions)62
Installation of Signal Lamp (Option)65
Working Range Alterations67
Adjusting the Working Range67
Mechanically Restricting the Working Range68
Installing Movable Mechanical Stops on Axis 173
Electrical Connection74
Robot Cabling and Connection Points74
Customer Connections77
Start of Robot in Cold Environments79
Maintenance81
Introduction81
Maintenance Schedule and Expected Component Life82
Specification of Maintenance Intervals82
Maintenance Schedule83
Expected Component Life85
Cleaning Activities86
Cleaning the IRB 101086
Inspection Activities88
Inspecting the Information Labels88
Inspecting the Robot Cabling90
Inspecting Timing Belts91
Inspecting Mechanical Stops92
Lubricating Activities95
Lubricating the Cable Package95
Replacing/Changing Activities97
Replacing the Battery Pack97
Repair103
Introduction103
General Procedures104
Mounting Instructions for Sealings104
The Brake Release Buttons May be Jammed after Service Work107
Cable Harness108
Replacing the Cable Package108
Replacing the SMB Unit158
Base and Arm System166
Replacing the Base166
Replacing the Axis-1 Assembly Unit180
Replacing the Axis 3-4 Assembly Unit187
Replacing the Wrist Unit226
Motors and Drive Units244
Replacing the Axis-2 Drive Unit245
Replacing the Axis-3 Motor254
Replacing the Axis-5 Motor263
Calibration279
Introduction to Calibration279
Introduction and Calibration Terminology279
Calibration Methods280
When to Calibrate282
Synchronization Marks and Axis Movement Directions283
Synchronization Marks and Synchronization Position for Axes283
Calibration Movement Directions for All Axes284
Updating Revolution Counters285
Updating Revolution Counters on Omnicore Robots285
Calibrating with Axis Calibration Method287
Description of Axis Calibration287
Calibration Tools for Axis Calibration290
Installation Locations for the Calibration Tools292
Axis Calibration - Running the Calibration Procedure295
Reference Calibration300
Calibrating with Wrist Optimization Method302
Verifying the Calibration304
Checking the Synchronization Position305
Troubleshooting307
Introduction to Troubleshooting307
Oil and Grease Stains on Motors and Gearboxes309
Mechanical Noise or Dissonance310
Manipulator Collapses on Power down311
Decommissioning313
Introduction to Decommissioning313
Environmental Information314
Scrapping of Robot316
Reference Information317
Introduction317
Applicable Standards318
Unit Conversion319
Screw Joints320
Weight Specifications323
Standard Toolkit324
Special Tools325
Spare Parts327
Spare Part Lists and Illustrations327
Index329

ABB IRB 1010 - Page 298

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