ABB IRB 6660 Product Manual page 304

4 Repair
4.6.5 Replacement of motor, axis 6
Continued
Equipment, etc.
Guide pins M8 x 150
Power supply
Grease
Loctite 574, Flange
sealant
Standard toolkit
Calibration Pendulum
toolkit
Calibration tool box,
Axis Calibration
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
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
304
Spare part no.
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 2007-2018 ABB. All rights reserved.
Art. no. Note
3HAC15520-2 For guiding the motor.
- 24 VDC, 1.5 A
For releasing the brakes.
3HAB3537-1 For lubricating the o-ring.
12340011-116 Option Foundry Plus
- Content is defined in section
Standard tools on page
3HAC15716-1 Complete kit that also in-
cludes operating manual.
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
3HAC055412- Delivered as a set of calibra-
001 tion tools.
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired.
3HAC025744- See chapter
001 on 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 Reference calibration
routine on page 353.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 6660
3HAC028197-001 Revision: S
381.
Circuit diagram
389.