ABB IRB 6710 - Page 590

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590 Product manual - IRB 6710

3HAC085695-001 Revision: A

6 Calibration

6.2.1 Synchronization marks and synchronization position for axes

Continued

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Table of Contents5
Overview of this Manual9
Product Documentation11
How to Read the Product Manual13
Safety15
Safety Information15
Limitation of Liability15
Requirements on Personnel16
Safety Signals and Symbols17
Safety Signals in the Manual17
Safety Symbols on Manipulator Labels19
Robot Stopping Functions25
Safety During Installation and Commissioning26
Safety During Operation28
Safety During Maintenance and Repair29
Emergency Release of the Robot Axes32
Brake Testing33
Safety During Troubleshooting34
Safety During Decommissioning35
Manipulator Description37
Technical Data37
Working Range41
The Unit Is Sensitive to ESD48
Installation and Commissioning49
Introduction to Installation and Commissioning49
Unpacking50
Pre-Installation Procedure50
Risk of Tipping/Stability51
On-Site Installation53
Brief Installation Procedure53
Installing a Base Plate54
Lifting the Robot62
Lifting Robot with Lifting Accessory (Recommended Lifting Method)62
Lifting the Robot with Fork Lift64
Lifting the Robot with Roundslings65
Orienting and Securing the Robot69
Manually Releasing the Brakes72
Loads Fitted to the Robot, Stopping Time and Braking Distances74
Fitting Equipment on the Robot (Robot Dimensions)75
Working Range Alterations85
Adjusting the Working Range85
Installing Movable Mechanical Stops on Axis 1 (Option 3323-1)86
Extended Working Range, Axis 1 (Option)89
Electrical Connections91
Robot Cabling and Connection Points91
Test Run after Installation, Maintenance, or Repair94
Maintenance95
Introduction95
Maintenance Schedule and Expected Component Life96
Specification of Maintenance Intervals96
Maintenance Schedule97
Expected Component Life99
Inspection Activities100
Inspecting the Motor Seal100
Inspecting the Balancing Device102
Inspecting the Cable Harness106
Inspecting the Dampers109
Inspecting the Information Labels111
Inspecting the Axis-1 Mechanical Stop114
Inspecting the Oil Level in Axis-1 Gearbox116
Inspecting the Oil Level in Axis-2 Gearbox120
Inspecting the Oil Level in Axis-3 Gearbox123
Inspecting the Oil Level in Axis-4 Gearbox127
Inspecting the Oil Level in Axis-5 Gearbox130
Inspecting the Oil Level in Axis-6 Gearbox133
Replacement/Changing Activities136
Type of Lubrication in Gearboxes136
Changing the Oil in Axis-1 Gearbox138
Changing the Oil in Axis-2 Gearbox144
Changing the Oil in Axis-3 Gearbox149
Changing the Oil in Axis-4 Gearbox154
Changing the Oil in Axis-5 Gearbox159
Changing the Oil in Axis-6 Gearbox163
Replacing the SMB Battery168
Lubrication Activities171
Lubricating the Spherical Roller Bearing, Balancing Device171
Cleaning Activities173
Cleaning the IRB 6710173
Repair177
Introduction177
General Procedures178
Performing a Leak-Down Test178
Mounting Instructions for Bearings179
Mounting Instructions for Sealings181
Cut the Paint or Surface on the Robot before Replacing Parts185
Balancing Device186
Replacing the Balancing Device186
Replacing Spherical Roller Bearing, Balancing Device Link Ear204
Replacing the Rear Bearings on the Balancing Device219
Axes 3 and 4231
Replacing the Arm House Cover Including the Axis-4 Cassette Sealing231
Wrist260
Replacing the Wrist260
Replacing the Turning Disc281
Electronic Parts286
Removing the Cable Harness286
Refitting the Cable Harness308
Replacing the Brake Release Unit335
Replacing the SMB Unit342
Motors348
Replacing the Axis-1 Motor348
Replacing the Axis-2 Motor363
Replacing the Axis-3 Motor379
Replacing the Axis-4 Motor392
Replacing the Axis-5 Motor405
Replacing the Axis-6 Motor418
Gears429
Replacing the Axis-1 Gearbox429
Replacing the Axis-2 Gearbox475
Replacing the Axis-3 Gearbox518
Replacing the Axis-6 Gearbox569
Calibration585
Introduction to Calibration585
Introduction and Calibration Terminology585
Calibration Methods586
When to Calibrate588
Synchronization Marks and Axis Movement Directions589
Synchronization Marks and Synchronization Position for Axes589
Calibration Movement Directions for All Axes591
Updating Revolution Counters592
Updating Revolution Counters on Omnicore Robots592
Calibrating with Axis Calibration Method594
Description of Axis Calibration594
Calibration Tools for Axis Calibration597
Installation Locations for the Calibration Tools599
Axis Calibration - Running the Calibration Procedure601
Reference Calibration605
Verifying the Calibration607
Checking the Synchronization Position608
Troubleshooting609
Introduction to Troubleshooting609
Oil and Grease Stains on Motors and Gearboxes611
Mechanical Noise or Dissonance612
Manipulator Collapses on Power down613
Decommissioning615
Introduction to Decommissioning615
Environmental Information616
Scrapping of Robot618
Decommissioning of Balancing Device619
Reference Information621
Introduction621
Applicable Standards622
Unit Conversion623
Screw Joints624
Weight Specifications627
Standard Toolkit628
Special Tools629
Lifting Accessories and Lifting Instructions633

ABB IRB 6710 - Page 590

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