ABB OmniCore IRB 6720 Product Manual

NoteArticle numberEquipmentContent is defined in sectionStandard toolkit on page 629.-Standard toolkitDeciding calibration routineDecide 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 beginningthe repair work of the robot, see the table.NoteActionDecide which calibration routine to use forcalibrating the robot.• Reference calibration. External cablepackages (DressPack) and tools canstay fitted on the robot.• Fine calibration. All external cablepackages (DressPack) and toolsmust be removed from the robot.1Follow the instructions given in the refer-ence calibration routine on the FlexPendantto create reference values.If the robot is to be calibrated with refer-ence calibration:Find previous reference values for the axisor 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 tomove the robot.Read more about reference calibration forAxis Calibration in Reference calibrationroutine on page 594.If no previous reference values exist, andno new reference values can be created,then reference calibration is not possible.If the robot is to be calibrated with finecalibration:Remove all external cable packages(DressPack) and tools from the robot.Removing the gearboxThese procedures describe how to remove the gearbox.Removing tools and equipment from the turning discNoteActionThis is done to achieve the beststability of the complete arm sys-tem, when it is resting by itself afterremoval.Remove tools and other equipment fitted on theturning disc.DressPack can stay fitted for the time being.1Continues on next pageProduct manual - IRB 6720 4333HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.5 Repair5.8.1 Replacing the axis-1 gearboxContinued