ABB IRB 6650S - 200/3.0 Product Manual page 273

3HAC020993-001 Revision: G
Action
3. Move the robot to the calibration position. The upper
arm can be directed in three different ways, shown in
the figure to the right.
The lowered position, as in figure A, is
recommended as it gives the least load on the tool.
4. If the robot is fitted with moveable mechanical stops
on axis 2 (not stock equipment), these must be
removed at this point.
The attachment holes of the mechanical stops are
used to attach the fixture.
5. Remove the locking screw from the fixture, where it
is attached.
6. Secure the lower arm to the frame by inserting the
locking screw into a specific attachment hole
through the frame, into the lower arm.
4 Repair
4.4.6. Securing the lower arm
Continued
Note/Illustration
xx0200000260
Shown in the figure Fixture, lower
arm on page 270.
Art. no. of the fixture is specified in
Required equipment on page
Shown in the figure Attachment
points, robot on page 269.
Continues on next page
269.
271