ABB IRB 1660 Product Manual page 173

Equipment
Circuit diagram
Cable ties
VK- cover
Cable harness axis 5-6
Deciding calibration routine
Decide 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 beginning
the repair work of the robot, see the table.
1
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
CAUTION
Be careful when handling the wrist. Always hold on the casting, do not hold on
the wrist cover. This can damage the sealing which will cause oil leakage.
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
© Copyright 2006-2018 ABB. All rights reserved.
4.3.2 Replacing the cable harness, 1600ID/1660ID
Spare part no.
3HAA 2166-23
3HAC027523-002
3HAC055651-001
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
4 Repair
Continued
Note
Upper and lower covers.
2 pcs
IRB 1600ID-4/1.5
IRB 1660ID-X/1.55
Reference calibration
350.
Continues on next page
159.
173