ABB OmniCore IRB 6740 Product Manual

NoteActionFollow 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.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.1Removing the covers for Foundry Plus and floor mounted robotsNoteActionxx2200001430Protection type Foundry PlusRemove the axis-1 cable protection plates byremoving the attachment screws.1Continues on next page448 Product manual - IRB 67403HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.5 Repair5.9.1 Replacing the axis-1 gearboxContinued