ABB OmniCore IRB 6740 Product Manual

NoteArticle numberEquipmentContent is defined in sectionStandard toolkit on page 652.-Standard toolkitRequired service partsNoteArticle numberConsumableReplace if damaged.On axis-6 motor3HAC079381-003 (Graphite White)3HAC079381-004 (ABB Orange)Connection boxcover MT100X withgasketReplace if damaged.On axis-5 motor3HAC072863-003Connection boxcover with gasketReplace if damaged.IRB 6740-310/2.8IRB 6740-260/3.0IRB 6740-270/2.8 LIDIRB 6740-230/3.0 LID3HAC078639-004 (Graphite White)3HAC078639-005 (ABB Orange)Wrist coverReplace if damaged.IRB 6740-240/3.2IRB 6740-220/3.2 LID3HAC078635-004 (Graphite White)3HAC078635-005 (ABB Orange)Wrist cover3HAC057966-003Cable strap, out-doorDeciding 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 619.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.Continues on next pageProduct manual - IRB 6740 2833HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.5 Repair5.6.1 Replacing the wristContinued