ABB IRB 6620, Product Manual

Page: 203 / 360

Note Art. no. Equipment, etc.
Used to guide the complete arm system
when lifting it. 3HAC022637-001 Guide pins M12 x 130
Always use the guide pins in pairs!
In order to make the refitting easier, it
is recommended to use two guide pins
of different lengths.
Lifting capacity 1,000 kg Roundsling 1,5 m
- Roundslings
Used to adjust the length of the lifting
chain. - Hoisting block
Used together with the hoisting block. - Lifting chain
Used for cleaning mounting surfaces. - Isopropanol
Content is defined in section Standard
tools on page 346 .
- Standard toolkit
These procedures include references
to the tools required. Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
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
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 320 . If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Read more about reference calibration for
Pendulum Calibration in
Operating manu-
al - Calibration Pendulum .
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Continues on next page
Product manual - IRB 6620 203
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.3.3 Replacement of complete arm system
Continued