ABB IRB 920, Product Manual

Page: 455 / 1008

Note Article number Equipment
Delivered as a set of calibration
tools.
Required if Axis Calibration is the
valid calibration method for the
robot. 3HAC055412-001 Calibration toolbox, 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. - Handheld dynamometer
Required consumables
Note Article number Consumable
- Cable straps
THK AFA - 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
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 957 . 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.
Continues on next page
Product manual - IRB 920 455
3HAC075721-001 Revision: C
© Copyright 2022 ABB. All rights reserved.
5 Repair
5.6.4 Replacing the pulley on the ball screw lower position
Continued