ABB IRB 6650S Series Product Manual page 358

4 Repair
4.7.1 Replacing the axis 1 gearbox
Continued
Removal, gearbox axis 1
Use this procedure to remove gearbox, axis 1.
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3
4
5
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358
Action
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.
Move the robot to its most stable position,
shown in the figure to the right.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Drain the axis 1 gearbox.
Remove the complete arm system.
Unfasten the robot base from the foundation
by removing the base attachment screws.
© 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
xx0300000632
See Changing oil, axis-1 gearbox on
page 174.
Detailed in section Removal, arm system
on page 250.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z