NoteAction
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
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, upper arm
The procedure below details how to remove the upper arm.
NoteAction
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
1
Remove all equipment fitted to turning disk.2
Shown in the figure Location of
upper arm on page 273.
Move the upper arm to a horizontal position.
Rotate axis 4 so that the attachment hole for lifting
eye is faced upwards!
3
Rotate axis 5 to position +90°.4
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
5
CAUTION
Always cut the paint with a knife and grind the paint
edge when disassembling parts. See Cut the paint
or surface on the robot before replacing parts on
page 219.
6
Art. no. is specified in Required
equipment on page 274.
Upper arm including wrist unit:
Fit the lifting eye, VLBG M12 to the attachment hole
for lifting eye on the upper arm tube.
7
Shown in the figure Location of
upper arm on page 273.
Continues on next page
276 Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
© Copyright 2011-2018 ABB. All rights reserved.
4 Repair
4.4.4 Replacement of upper arm
Continued
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