Required tools and equipment
NoteArticle numberEquipment
Always use guide pins in pairs.3HAC080345-001Guide pin, M6x150
User instructions are enclosed
with the tool.
3HAC081310-001Brake release tool
Used to rotate the motor pinion.
Add screw M3.
3HAB7887-1Rotation tool M3
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot.
3HAC074564-001
(axes 1, 2, 3 and 4)
3HAC074119-001
(axes 5 and 6)
Calibration toolbox, Axis Calibra-
tion
Content is defined in section
Standard toolkit on page 628.
-Standard toolkit
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 595.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.
Removing the gearbox
Use these procedures to remove the axis-6 gearbox.
Preparations before removing the axis-6 gearbox
NoteAction
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Continues on next page
570 Product manual - IRB 6710
3HAC085695-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
5 Repair
5.8.4 Replacing the axis-6 gearbox
Continued
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