ABB IRB 6700 Series - Page 7

2284.3.5 Attaching lifting accessories to the upper arm ...............................................
2314.4 Complete robot .................................................................................................
2314.4.1 Removing the cable harness ....................................................................
2554.4.2 Refitting the cable harness .......................................................................
2854.4.3 Replacing the SMB .................................................................................
2914.4.4 Replacing the brake release unit ...............................................................
2964.5 Upper and lower arms ........................................................................................
2964.5.1 Replacing the upper arm ..........................................................................
3404.5.2 Replacing the wrist .................................................................................
3654.5.3 Replacing the turning disc ........................................................................
3714.5.4 Replacing the process turning disc .............................................................
3774.5.5 Replacing the lower arm ..........................................................................
4434.6 Frame and base ................................................................................................
4434.6.1 Replacing spherical roller bearing, link ear ...................................................
4614.6.2 Replacing the balancing device .................................................................
4794.6.3 Replacing the rear bearings on the balancing device .....................................
4924.6.4 Unloading the balancing device .................................................................
4964.6.5 Restoring the balancing device .................................................................
4994.6.6 Replacing the stop pin .............................................................................
5034.7 Motors ............................................................................................................
5034.7.1 Replacing the axis-1 motor .......................................................................
5174.7.2 Replacing the axis-2 motor .......................................................................
5304.7.3 Replacing the axis-3 motor .......................................................................
5434.7.4 Replacing the axis-4 motor .......................................................................
5544.7.5 Replacing the axis-5 motor .......................................................................
5714.7.6 Replacing the axis-6 motor .......................................................................
5864.8 Gearboxes .......................................................................................................
586
4.8.1 Replacing the axis-1 gearbox (IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700
- 175/3.05, IRB 6700 - 150/3.20, IRB 6700 - 200/2.60, IRB 6700 - 155/2.85) ..........
6264.8.2 Replacing the axis-1 gearbox (IRB 6700 - 300/2.70, IRB 6700 - 245/3.00) ...........
664
4.8.3 Replacing the axis-2 gearbox (IRB 6700 - 235/2.65, IRB 6700 - 205/2.80, IRB 6700
- 175/3.05, IRB 6700 - 150/3.20, IRB 6700 - 200/2.60, IRB 6700 - 155/2.85) ..........
7014.8.4 Replacing the axis-2 gearbox (IRB 6700 - 300/2.70, IRB 6700 - 245/3.00) ...........
7384.8.5 Replacing the axis-3 gearbox ....................................................................
7764.8.6 Replacing the axis-6 gearbox ....................................................................
7875 Calibration
7875.1 Introduction to calibration ...................................................................................
7875.1.1 Introduction and calibration terminology ......................................................
7885.1.2 Calibration methods .................................................................................
7905.1.3 When to calibrate ...................................................................................
7915.2 Synchronization marks and axis movement directions .............................................
7915.2.1 Synchronization marks and synchronization position for axes .........................
7935.2.2 Calibration movement directions for all axes ................................................
7945.3 Updating revolution counters ...............................................................................
7985.4 Calibrating with Axis Calibration method ...............................................................
7985.4.1 Description of Axis Calibration ..................................................................
8005.4.2 Calibration tools for Axis Calibration ...........................................................
8025.4.3 Installation locations for the calibration tools ...............................................
8035.4.4 Axis Calibration - Running the calibration procedure ......................................
8095.5 Calibrating with Calibration Pendulum method ........................................................
8105.6 Verifying the calibration ......................................................................................
8115.7 Checking the synchronization position ..................................................................
8136 Decommissioning
8136.1 Environmental information ..................................................................................
8156.2 Scrapping of robot .............................................................................................
8166.3 Decommissioning of balancing device ...................................................................
Product manual - IRB 6700 7
3HAC044266-001 Revision: N
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