ABB Robotics IRB 6790, Руководство по эксплуатации продукта

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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 624 . 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-3 motor
Use this procedure to do the necessary preparations before removing the 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-3 gearbox on
page 143 .
Drain the axis-3 gearbox. 2
Unload the upper arm using one of these
methods:
• Use caution and jog axis-3 to maxim-
um + position. Release the brakes
and let the upper arm rest against
the axis-3 damper.
• Use a fork lift to rest the upper arm
onto.
• Use lifting slings and an overhead
crane to rest the upper arm onto.
3
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the safe-
guarded space.
4
Remove any equipment hindering access
to the motor. 5
Continues on next page
Product manual - IRB 6790 449
3HAC063331-001 Revision: B
© Copyright 2019 - 2020 ABB. All rights reserved.
4 Repair
4.7.3 Replacing the axis-3 motor
Continued