ABB IRB 1660 Product Manual page 211

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Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
Action
Use standard tools to refit the three hexagon
socket head screw (M8x35).
Reconnect connectors R4.FB6 and R4.MP6,
through the hole for the VK cover.
Tighten the hexagon socket head screw
M5X16 (Short head).
Refit the VK cover.
Tightening the plug (A).
Tightening torque 6 Nm
Refit the AW equipment in the upper arm.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
cause injury or damage on page
© Copyright 2006-2018 ABB. All rights reserved.
4.4.5 Replacing the wrist unit, IRB 1600ID
Note
Shown as (H) in figure
unit on page
Tightening torque 24 Nm
When reconnecting the connectors
R4.FB6 and R4.MP6, make sure to push
the connectors towards the wrist as far
away from the axis 5-6 cable spiral as
possible, to avoid grease to accumulate
on the resolver connector.
Shown as (E) in figure
unit on page
Tightening torque 6 Nm
xx0700000092
Shown in
page 210
Pendulum Calibration is described in
Operating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
ing with Axis Calibration method on
page 349.
General calibration information is included
in section
First test run may
28.
4 Repair
Continued
Location of wrist
206.
Note
Location of wrist
206.
Refitting the wrist unit on
Calibrat-
Calibration on page 337.
211