ABB IRB 660 Product Manual page 230

4 Repair
4.4.9 Replacement of parallel arm
Continued
Equipment, etc.
Lifting accessory, lower arm
complete
Level
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures 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
Removal, parallel arm
Use this procedure to remove the parallel arm.
1
Continues on next page
230
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 2006-2020 ABB. All rights reserved.
Art.no.
3HAC8446-1
-
-
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.
Note
Content is defined in section
Standard tools on page
These procedures include refer-
ences to the tools required.
Reference calibration
316.
Note
Product manual - IRB 660
3HAC025755-001 Revision: W
347.