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.
Removal, gearbox
The procedure below details how to remove gearbox, axis 6.
NoteAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
1
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
2
Detailed in the section Changing oil,
axis-6 gearbox on page 166.
Drain the oil from gearbox, axis 6.3
Detailed in the section Removing,
turning disk on page 214.
Remove the turning disk.4
Shown in the figure Location of gearbox
on page 299.
Remove the gearbox by unscrewing its 8 attach-
ment screws.
5
Continues on next page
Product manual - IRB 6620 301
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.7.4 Replacement of gearbox, axis 6
Continued
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