ABB IRB 6700I, Product Manual

Page: 469 / 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 motor
These procedures describes how to remove the motor.
Preparations before removing the axis-2 motor
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
See Draining the axis-2 gearbox on
page 152 .
Drain the oil from the gearbox. 2
Jog the robot to the calibration position. 3
DANGER
Secure the weight of the lower arm with a
lock screw, before releasing the brakes on
the axis-2 motor as well as before removing
the axis-2 motor or the axis-2 gearbox.
4
Lock screw, M16x120
xx1700000513
Insert the lock screw into the frame. If
needed, adjust the position of axis-2 to
make it possible to insert the lock screw.
The lock screw is used to secure the weight
of the lower arm, in order to avoid acci-
dents or damage.
Note
Tighten the lock screw manually, no tools
needed.
5
Continues on next page
Product manual - IRB 6700Inv 469
3HAC058254-001 Revision: L
© Copyright 2017 - 2020 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the axis-2 motor
Continued