ABB IRB 6650S Series Product Manual page 278

4 Repair
4.4.4 Replacement of complete lower arm
Continued
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.
1
Removal, lower arm
The procedure below details how to remove the complete lower arm.
1
2
3
4
Continues on next page
278
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.
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.
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.
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Remove the upper arm.
Disconnect and remove the cables from inside
the lower arm.
Release any cable attachments.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 402.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Detailed in section
arm on page 268.
Detailed in section
harness, axes 1-6 on page
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Removal, upper
Replacing cable
219.