ABB IRB 6660 Product Manual page 231

Required equipment
Equipment, etc.
Upper arm, axis 4
Grease filling tool
Rust preventive
KM12 socket
Standard toolkit
Other tools and proced-
ures may be required. See
references to these proced-
ures in the step-by-step in-
structions 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
Product manual - IRB 6660
3HAC028197-001 Revision: S
Art.no.
For spare part part num-
ber, see
page
-
3HAC034903-001
3HAC5347-1
-
-
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 2007-2018 ABB. All rights reserved.
4.4.3 Replacement of upper arm
Note
Spare part lists on
387.
Mercasol 3110 Waxcoat
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
Axis Calibration in
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
4 Repair
Continued
381.
Circuit diagram on
389.
Reference calibration
353.
Continues on next page
231