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
Axis Calibration in Reference calibration
routine on page 806.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 parallel arm
Use these procedures to remove the parallel arm.
Preparations before removing the parallel arm
NoteAction
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure.
1
Remove any tool or other equipment fitted
to the robot.
2
Robot position when removing the counterweight
NoteAction
xx1500002096
Jog the robot to a position so that the area
where the counterweight is fitted to the
parallel arm, is horizontal to the foundation.
1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
2
Continues on next page
Product manual - IRB 8700 435
3HAC052853-001 Revision: F
© Copyright 2015-2018 ABB. All rights reserved.
4 Repair
4.5.7 Replacing the parallel arm
Continued
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