ABB IRB 660 Product Manual page 210

4 Repair
4.4.6 Replacement of linkage - link
Continued
Required equipment
Equipment, etc.
Link
Auxiliary shaft
Pressing tool, link
Pressing tool, link
Lubrication tool
Sealing compound
Locking liquid
Grease
Standard toolkit
Other tools and proced-
ures may be required. See
references to these proced-
ures in the step-by-step
instructions below.
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
210
Art. no.
For spare part no. see:
3HAC023081-004
3HAC023081-001
3HAC023079-001
3HAC5222-2
3HAC073510-001
3HAB7116-1
3HAC042536-001
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.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
© Copyright 2006-2020 ABB. All rights reserved.
Note
• Spare part lists on
page 353
Used for bearings.
Used to press the link on the shaft
Used to press the outer rings of the
bearings in the link
Trans7
Loctite 243
Shell Gadus S2
Content is defined in section
tools on page
These procedures include references
to the tools required.
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.
Standard
347.
Reference calibration
316.
Product manual - IRB 660
3HAC025755-001 Revision: W