Top cover, connection boxB
Connection plate, baseC
Connector R1.SMBD
Connector R1.MPE
Metal clampsF
Cable harnessG
Cable guide (cut away view)H
Required equipment
NoteArt. no.Spare part no.Equipment, etc.
See Spare part
lists on page 351.
Cable harness
Content is defined in
section Standard tools on
page 346.
-Standard toolkit
These procedures in-
clude references to the
tools required.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
See chapter Circuit dia-
gram on page 353.
Circuit diagram
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
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 320.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Continues on next page
186 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.3.1 Replacement of cable harness, lower end (axes 1-2)
Continued
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