ABB IRB 6700Inv, Руководство по эксплуатации продукта, Страница: 340 / 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 lower arm
Use these procedures to remove the lower arm.
Preparations before removing the lower arm
Note Action
Decide which calibration routine to use,
and take actions accordingly prior to begin-
ning the repair procedure. 1
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safe-
guarded space.
2
Remove all equipment fitted to upper and
lower arms. 3
Securing the lower arm
Use this procedure to secure the lower arm.
Note Action
Jog axis 2 to -35°. 1
xx1700000270
Remove the transportation lock screw and the
yellow sleeve from the parking position. 2
Continues on next page
340 Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
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4 Repair
4.5.5 Replacing the lower arm
Continued