ABB IRB 6660 Product Manual page 216

4 Repair
4.3.5 Replacement of complete arm system
Continued
10
11
12
13
14
15
16
17
216
Action
Remove the guide pins and secure the arm
system to the base with its 24 attachment
screws and washers.
Refit the block for calibration at the bottom
of the frame.
Also refit the axis 1 calibration plate.
Refit the axis-1 motor.
Perform a leak-down test of the axis-1
gearbox.
Refit the cabling in the base.
Refill the gearbox with lubricating oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
may cause injury or damage on page
© Copyright 2007-2018 ABB. All rights reserved.
Note
Shown in the figure
tem on page
M12 x 70, tightening torque: 115 Nm.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw joints on page 377
xx0600002734
• A: Block for calibration
• B: Calibration plate axis 1
Detailed in section
1 on page 274.
Detailed in section
down test on page
Detailed in section
harness, lower end (axes 1-3) on page
Detailed in section
gearbox on page
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section Calibration on page
First test run
28.
Location of arm sys-
207.
before fitting.
Replacing motor, axis
Performing a leak-
174.
Replacement of cable
181.
Changing oil, axis-1
146.
Calibrating
352.
341.
Product manual - IRB 6660
3HAC028197-001 Revision: S