ABB OmniCore IRB 6740 Product Manual

4445.9 Gears ..............................................................................................................4445.9.1 Replacing the axis-1 gearbox ....................................................................5055.9.2 Replacing the axis-2 gearbox ....................................................................5475.9.3 Replacing the axis-3 gearbox ....................................................................5915.9.4 Replacing the axis-6 gearbox ....................................................................6096 Calibration6096.1 Introduction to calibration ...................................................................................6096.1.1 Introduction and calibration terminology ......................................................6106.1.2 Calibration methods .................................................................................6126.1.3 When to calibrate ...................................................................................6136.2 Synchronization marks and axis movement directions .............................................6136.2.1 Synchronization marks and synchronization position for axes .........................6156.2.2 Calibration movement directions for all axes ................................................6166.3 Updating revolution counters ...............................................................................6166.3.1 Updating revolution counters on OmniCore robots ........................................6186.4 Calibrating with Axis Calibration method ...............................................................6186.4.1 Description of Axis Calibration ..................................................................6216.4.2 Calibration tools for Axis Calibration ...........................................................6236.4.3 Installation locations for the calibration tools ...............................................6256.4.4 Axis Calibration - Running the calibration procedure ......................................6296.4.5 Reference calibration ...............................................................................6316.5 Verifying the calibration ......................................................................................6326.6 Checking the synchronization position ..................................................................6337 Troubleshooting6337.1 Introduction to troubleshooting ............................................................................6357.2 Oil and grease stains on motors and gearboxes ......................................................6367.3 Mechanical noise or dissonance ..........................................................................6377.4 Manipulator collapses on power down ...................................................................6398 Decommissioning6398.1 Introduction to decommissioning .........................................................................6408.2 Environmental information ..................................................................................6428.3 Scrapping of robot .............................................................................................6438.4 Decommissioning of balancing device ..................................................................6459 Reference information6459.1 Introduction ......................................................................................................6469.2 Applicable standards .........................................................................................6479.3 Unit conversion .................................................................................................6489.4 Screw joints ....................................................................................................6519.5 Weight specifications .........................................................................................6529.6 Standard toolkit ................................................................................................6539.7 Special tools ....................................................................................................6579.8 Lifting accessories and lifting instructions ..............................................................659IndexProduct manual - IRB 6740 73HAC085701-001 Revision: A© Copyright 2023 ABB. All rights reserved.Table of contents