ABB IRB 6650S Series Product Manual page 385

Removal, gearbox
The procedure below details how to remove gearbox, axis 6.
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Product manual - IRB 6650S
3HAC020993-001 Revision: Z
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.
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.
Drain the oil from gearbox, axis 6.
Remove the turning disc.
Remove the gearbox by unscrewing its attach-
ment screws.
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4.7.4 Replacement of gearbox, axis 6
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 the section
axis-6 gearbox on page
Detailed in the section
turning disk on page 255.
Shown in the figure Location of gearbox
on page 383.
Continues on next page
4 Repair
Continued
Changing oil,
189.
Removing,
385