Removal, Motor Axis 5 And Timing Belt - ABB IRB 1660 Product Manual

4 Repair
4.6.7 Replacement of motor and timing belt, axis 5, IRB 1600
Continued
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

Removal, motor axis 5 and timing belt

The procedure below details how to remove the motor and the timing belt of axis
5.
1
2
3
4
5
Continues on next page
290
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.
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
Remove the axis 4 motor.
Remove the motor and timing belt of axis 6.
Disconnect the axis 5 motor connectors: R3.MP5
and R3.FB5.
© Copyright 2006-2018 ABB. All rights reserved.
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.
Note
Detailed in section
axis 4 on page 281.
Detailed in section
and timing belt, axis 6 on page
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
Removal, motor
Removal, motor
313.