ABB IRB 1660 Product Manual page 312

4 Repair
4.6.10 Replacement of motor and timing belt, axis 6, IRB 1600
Continued
Equipment
Timing belt
Gasket, upper arm cover
Gasket, customer connec-
tions
Hook
Dynamometer
Standard toolkit
Other tools and proced-
ures may be required. See
references to these pro-
cedures in the step-by-
step instructions below.
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
312
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.
Spare part no. Art. no.
3HAC6779-1
3HAC022049-001
3HAC022050-001
3HAC024045-001
-
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.
Note
Replace if damaged.
Replace if damaged.
Capacity: 100N
Content is defined in
section Standard tools
on page 383.
These procedures in-
clude references to the
tools required.
See chapter Circuit
diagram on page
Reference calibration
350.
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
389.
159.