ABB CRB 1100, Product Manual

Page: 536 / 720

Note Article number Equipment
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot.
The tool box also includes a
unique calibration pin for CRB
1100 to be fitted to the tool flange
during calibration of axis 6. 3HAC074119-001 Calibration tool box, Axis Calibra-
tion
Used to release the motor brakes. - 24 VDC power supply
Used for measuring the timing
belt tension. - Sonic tension meter
Used for measuring the timing
belt tension. - Dynamometer
Included in the special toolkit
3HAC071022-001.
Used to remove and refit the
J5.C2 connector, if the Ethernet
cabling is equipped. - J5.C2 connector assembly tool
Required consumables
Note Article number Consumable
- Cable straps
FM 222 3HAC029132-001 Grease
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 664 . If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Continues on next page
536 Product manual - CRB 1100
3HAC078007-001 Revision: J
© Copyright 2021-2023 ABB. All rights reserved.
5 Repair
5.7.6 Replacing the axis-6 motor
Continued