ABB IRB 1660 Product Manual page 280

4 Repair
4.6.5 Replacement of motor, axis 4, IRB 1600
Continued
Equipment, etc.
O-ring
Gasket, upper arm cover
Gasket, customer con-
nections
Grease
Standard toolkit
Power supply
Rotation tool, motor
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
Circuit diagram
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
Continues on next page
280
Spare part no.
3HAC022049-001
3HAC022050-001
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.
Art. no. Note
3HAB3772-81 Replace if damaged.
Replace if damaged.
Replace if damaged.
3HAB3537-1 Used for lubricating the o-
ring.
Content is defined in section
Standard tools on page
- 24 VDC, max. 1,5 A.
For releasing the brakes.
3HAC022266- For adjusting the gear play.
003
These procedures include
references to the tools re-
quired.
See chapter
on page 389.
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 Reference calibration
routine on page 350.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
383.
Circuit diagram