ABB Robotics IRB 1100, Product Manual

Page: 535 / 616

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.
Note Action
Note
Calibrating axis 6 always requires tools to
be removed from the mounting flange (also
for reference calibration) since the mount-
ing flange is used for installation of the
calibration tool.
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 570 . 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-4 gearbox.
Preparations before removing the axis-4 gearbox
Note Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure. 1
xx1800003289
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: 110° (IRB 1100-4/0.475) /95° (IRB
1100-4/0.58)
• Axis 3: -20° (IRB 1100-4/0.475)/ -6° (IRB
1100-4/0.58)
• Axis 4: 0°
• Axis 5: 0°
• Axis 6: No significance.
2
Continues on next page
Product manual - IRB 1100 535
3HAC064992-001 Revision: C
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5 Repair
5.8.4 Replacing the axis-4 gearbox
Continued