ABB IRB 6700I, Product Manual

Page: 275 / 730

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 684 . 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 upper arm
Use these procedures to remove the upper arm.
Preparations before removing the upper arm
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
xx1700000448
Remove the service stops from their park-
ing position. 2
Tightening torque: 70 Nm ±15 Nm.
xx1700000449
Fit the service stops in maintenance posi-
tion. 3
Continues on next page
Product manual - IRB 6700Inv 275
3HAC058254-001 Revision: L
© Copyright 2017 - 2020 ABB. All rights reserved.
4 Repair
4.5.1 Replacing the upper arm
Continued