ABB IRB 660 Product Manual page 288

4 Repair
4.7.2 Replacing the gearbox, axes 2- 3
Continued
Equipment, etc.
Bearing grease
Rust preventive
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions 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, axis-2 / axis-3 gearbox
Use this procedure to remove the axis-2 or axis-3 gearbox.
Continues on next page
288
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.
Note
Do not replace both gearboxes at the same time, unless the complete arm system
is already removed!
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Art.no
3HAC042536-001
3HAC034903-001
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
Shell Gadus S2
Option Foundry Plus
Mercasol 3110 Waxcoat
Content is defined in section
ard tools on page 347.
These procedures include refer-
ences to the tools required.
Reference calibration
316.
Product manual - IRB 660
3HAC025755-001 Revision: W
Stand-