ABB IRB 6640 Foundry Prime Product Manual page 264

4 Repair
4.4.2 Replacement of complete wrist unit
Continued
Equipment etc.
Cover for wrist unit
Gasket for wrist house cover
Gasket for cable cover on up-
per arm tube
Gasket for small cover on up-
per arm tube
Gasket for cable cover on arm
extender 250 mm
Gasket for cable cover on arm
extender 450 mm
Guide pins M12 x 200
Lifting accessory, wrist unit
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures 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
264
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.
© Copyright 2011-2018 ABB. All rights reserved.
Art. no. Note
For spare part number,
see Spare parts on
page 487.
3HAC043225-001 For robots with protection Foundry
Plus and Foundry Prime.
3HAC043224-001 For robots with protection Foundry
Plus and Foundry Prime.
3HAC043303-001 Should be installed for robots with
protection Foundry Plus and
Foundry Prime.
3HAC043302-001 Should be installed for robots with
protection Foundry Plus and
Foundry Prime.
3HAC043398-001 Should be installed for robots with
protection Foundry Plus and
Foundry Prime.
3HAC13056-3 Always use guide pins in pairs!
3HAC13605-1
- Content is defined in section
Standard tools on page
These procedures include refer-
ences to the tools required.
See chapter
page
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
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 6640 Foundry Prime
465.
Circuit diagrams on
489.
3HAC040586-001 Revision: N