ABB IRB 1660 Product Manual page 7

4.6.10 Replacement of motor and timing belt, axis 6, IRB 1600 .................................
4.6.11 Replacement of motor, axis 6, IRB 1600ID ...................................................
4.6.12 Replacement of motor, axis 6, IRB 1660ID ...................................................
4.7 Gearboxes .......................................................................................................
4.7.1 Replacement of gearbox, axes 1-2 .............................................................
4.7.2 Service work on gearboxes, axes 3, 4, 5 and 6 ..............................................
5 Calibration
5.1 Introduction to calibration ...................................................................................
5.1.1 Introduction and calibration terminology ......................................................
5.1.2 Calibration methods .................................................................................
5.1.3 When to calibrate ...................................................................................
5.2 Synchronization marks and axis movement directions .............................................
5.2.1 Synchronization marks and synchronization position for axes .........................
5.2.2 Calibration movement directions for all axes ................................................
5.3 Updating revolution counters ...............................................................................
5.4 Calibrating with Axis Calibration method ...............................................................
5.4.1 Description of Axis Calibration ..................................................................
5.4.2 Calibration tools for Axis Calibration ...........................................................
5.4.3 Installation locations for the calibration tools ...............................................
5.4.4 Axis Calibration - Running the calibration procedure ......................................
5.5 Calibrating with Calibration Pendulum method ........................................................
5.6 Verifying the calibration ......................................................................................
5.7 Checking the synchronization position ..................................................................
6 Decommissioning
6.1 Environmental information ..................................................................................
6.2 Scrapping of robot .............................................................................................
7 Robot description
7.1 Type A of IRB 1600 ............................................................................................
7.2 Type A of IRB 1600ID .........................................................................................
8 Reference information
8.1 Introduction ......................................................................................................
8.2 Applicable standards .........................................................................................
8.3 Unit conversion .................................................................................................
8.4 Screw joints ....................................................................................................
8.5 Weight specifications .........................................................................................
8.6 Standard tools ..................................................................................................
8.7 Special tools ....................................................................................................
8.8 Lifting accessories and lifting instructions ..............................................................
9 Spare part lists
9.1 Spare part lists and illustrations ...........................................................................
10 Circuit diagram
10.1 Circuit diagrams ................................................................................................
Index
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
Table of contents
311
315
319
329
329
335
337
337
337
338
340
341
341
344
345
349
349
352
354
358
366
367
368
369
369
371
373
373
374
375
375
376
378
379
382
383
384
386
387
387
389
389
391
7