ABB IRB 660 Product Manual page 193

Required equipment
Equipment, etc.
Upper arm, axis 4
Support ring
Adapter
Grease filling tool
Rust preventive
Press tool, support ring
Pressing tool, upper arm
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 660
3HAC025755-001 Revision: W
Art.no.
For spare part part num-
ber, see
page
For spare part part num-
ber, see
page
3HAC071308-001
-
3HAC034903-001
3HAC072616-001
3HAC023084-001
3HAC023739-001
-
-
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 2006-2020 ABB. All rights reserved.
4.4.3 Replacement of upper arm
Note
Spare part lists on
353.
2 pcs
Spare part lists on
Install on a new upper arm.
353.
Used on the axis-3 shaft.
Mercasol 3110 Waxcoat
Used to press in the support rings
in the upper arm housing.
Used on the bearings.
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
347.
Circuit diagrams on
355.
Reference calibration
316.
Continues on next page
193