ABB IRB 8700 Series Product Manual page 762

4 Repair
4.8.5 Replacing the axis-4 primary gearbox
Continued
Removing the axis-4 primary gearbox
Use these procedures to remove the gearbox.
Preparations before removing the gearbox
1
2
3
4
Disconnecting the axis-4 motor cables
1
Continues on next page
762
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 begin-
ning the repair procedure.
Jog the robot to the most comfortable pos-
ition for removing the axis-4 primary gear-
box.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Start draining the oil in the axis-4 primary
and secondary gearboxes.
Action
DANGER
Make sure that all supplies for electrical
power, hydraulic pressure, and air pressure
are turned off.
© Copyright 2015-2018 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 806.
Note
See Draining the axis-4 primary gearbox
on page 154.
Note
Product manual - IRB 8700
3HAC052853-001 Revision: F