Required tools and equipment
NoteArticle numberEquipment, etc.
Used to release the motor brakes.-24 VDC power supply
Includes calibration tools, pins and at-
tachment screws for manual calibration
method.
i
3HAC051256-001Calibration toolkit, manual
calibration
Content is defined in section Standard
toolkit on page 890.
-Standard toolkit
i
The robot is calibrated by either manual calibration or Axis Calibration at factory. Always use the
same calibration method as used at the factory.
Information about valid calibration method is found on the calibration label or in the calibration
menu on the FlexPendant.
If no data is found related to standard calibration, manual calibration is used as default.
Required consumables
NoteArt. no.Consumable
Isopropanol-Cleaning agent
Loctite 2433HAB7116-1Locking liquid
For robots with protection class
IP67
For robots with protection type
Foundry Plus
Trans Clear3HAC073510-001Sealant
For robots with protection type
Hygienic
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.
NoteAction
Note
Calibrating axis 6 always requires tools to
be removed from the mounting flange (also
for reference calibration) since the mount-
ing flange is used for installation of the
calibration tool.
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.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
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.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 819.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Continues on next page
Product manual - IRB 1200 759
3HAC046983-001 Revision: S
© Copyright 2014 - 2021 ABB. All rights reserved.
4 Repair
4.6.7 Replacing the axis-5 motor with pulley
Continued
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