NoteAction
Detailed in section Replacement of cable
harness, lower end (axes 1-2) on page 185.
Refit the cable harness, axes 1-2.17
Detailed in section Replacement of motor,
axis 1 on page 242.
Refit motor, axis 1.18
Detailed in section Changing oil, axis-1
gearbox on page 151.
Fill oil in gearbox axis 1.19
Pendulum Calibration is described in
Operating manual - Calibration Pendulum,
enclosed with the calibration tools.
Recalibrate the robot.20
Axis Calibration is described in Calibrat-
ing with Axis Calibration method on
page 319.
General calibration information is in-
cluded in section Calibration on page 305.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section First test run
may cause injury or damage on page 27.
21
Product manual - IRB 6620 285
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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