ABB Robotics IRB 1100, Руководство по эксплуатации продукта

Страница: 503 / 616

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 570 . 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 gearbox
Use these procedures to remove the axis-2 gearbox.
Preparations before removing the axis-2 gearbox
Note Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure. 1
xx1800003289
Jog the robot to the specified position:
• Axis 1: 0°
• Axis 2: 110° (IRB 1100-4/0.475) /95° (IRB
1100-4/0.58)
• Axis 3: -20° (IRB 1100-4/0.475)/ -6° (IRB
1100-4/0.58)
• Axis 4: 0°
• Axis 5: 0°
• Axis 6: No significance.
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
3
Continues on next page
Product manual - IRB 1100 503
3HAC064992-001 Revision: C
© Copyright 20192020 ABB. All rights reserved.
5 Repair
5.8.2 Replacing the axis-2 gearbox
Continued