ABB IRB 5710, Product Manual

Page: 240 / 610

Note Action
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 566 . 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 wrist
Use these procedures to remove the wrist.
Preparations before removing the wrist
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
Remove tools and other equipment fitted
to the wrist. 2
xx2100002164
Jog the robot into position:
• Axis 1: no significance
• Axis 2: no significance
• Axis 3: no significance
• Axis 4: +90°
• Axis 5: +90°
• Axis 6: no significance
3
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
4
Continues on next page
240 Product manual - IRB 5720
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.6.1 Replacing the wrist
Continued