ABB IRB 6620 Product Manual page 7

4.6 Motors ............................................................................................................
4.6.1 Replacement of motor, axis 1 ....................................................................
4.6.2 Replacement of motor axis 2 .....................................................................
4.6.3 Replacement of motor, axis 3 ....................................................................
4.6.4 Replacement of motor, axis 4 ....................................................................
4.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX ...........................................
4.6.6 Replacement of motor, axis 6 ....................................................................
4.7 Gearboxes .......................................................................................................
4.7.1 Replacement gearbox axis 1 .....................................................................
4.7.2 Replacement gearbox axis 2 .....................................................................
4.7.3 Replacement of gearbox axis 3 ..................................................................
4.7.4 Replacement of gearbox, axis 6 .................................................................
5 Calibration
5.1 Introduction to calibration ...................................................................................
5.1.1 Introduction and calibration terminology ......................................................
5.1.2 Calibration methods .................................................................................
5.1.3 When to calibrate ...................................................................................
5.2 Synchronization marks and axis movement directions .............................................
5.2.1 Synchronization marks and synchronization position for axes .........................
5.2.2 Calibration movement directions for all axes ................................................
5.3 Updating revolution counters ...............................................................................
5.4 Calibrating with Axis Calibration method ...............................................................
5.4.1 Description of Axis Calibration ..................................................................
5.4.2 Calibration tools for Axis Calibration ...........................................................
5.4.3 Installation locations for the calibration tools ...............................................
5.4.4 Axis Calibration - Running the calibration procedure ......................................
5.5 Calibrating with Calibration Pendulum method ........................................................
5.6 Verifying the calibration ......................................................................................
5.7 Checking the synchronization position ..................................................................
6 Decommissioning
6.1 Environmental information ..................................................................................
6.2 Scrapping of robot .............................................................................................
7 Reference information
7.1 Applicable standards .........................................................................................
7.2 Unit conversion .................................................................................................
7.3 Screw joints ....................................................................................................
7.4 Weight specifications .........................................................................................
7.5 Standard tools ..................................................................................................
7.6 Special tools ....................................................................................................
7.7 Lifting accessories and lifting instructions ..............................................................
8 Spare part lists
8.1 Spare part lists and illustrations ...........................................................................
9 Circuit diagram
9.1 Circuit diagrams ................................................................................................
Index
Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
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