ABB IRB 6660 Product Manual page 275

Equipment, etc
Power supply
Standard toolkit
Other tools and proced-
ures may be required. See
references to these proced-
ures 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
Removing motor axis 1
Use this procedure to remove the axis-1 motor.
1
Product manual - IRB 6660
3HAC028197-001 Revision: S
Art.no.
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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.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
© Copyright 2007-2018 ABB. All rights reserved.
4.6.1 Replacing motor, axis 1
Note
24 VDC, max. 1,5 A
For releasing the brakes.
Content is defined in section
ard tools on page 381.
These procedures include refer-
ences to the tools required.
See chapter Circuit diagram on
page 389.
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 Reference calibration
routine on page 353.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Continues on next page
4 Repair
Continued
Stand-
275