NoteArt. no.Spare part no.Equipment, etc.
Consists of 4 pcs.3HAC15535-1Support, base and
gear axis 1
Always use guiding pins in
pairs.
3HAC13120-5Guide pins (M16x300)
Always use guiding pins in
pairs
3HAC13120-4Guide pins (M16x250)
Instruction 3HAC026600-
002 is enclosed.
3HAC026597-001Lifting tool
Used to lift gearbox axis 1
and frame.
3HAC15556-1Lifting tool
Used together with lifting
tool 3HAC15556-1.
3HAC025333-005Lifting eye (2 pcs)
For lubricating o-rings.3HAB3537-1Grease
Content is defined in sec-
tion Standard tools on
page 346.
-Standard tools
These procedures include
references to the tools re-
quired.
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these proced-
ures in the step-by-
step instructions be-
low.
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.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
278 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.7.1 Replacement gearbox axis 1
Continued
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