ABB IRB 1660, Product Manual

Page: 303 / 398

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.
Note 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.
1
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values. 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.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
Reference calibration
routine on page 350 . If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Read more about reference calibration for
Pendulum Calibration in
Operating manu-
al - Calibration Pendulum .
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing motor axis 5
Use this procedure to remove motor axis 5.
Information Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure. 1
xx1500003066
Move the lower arm to the position shown
in the figure. 2
• A: 75° approximately
Move the upper arm to a horizontal position. 3
Continues on next page
Product manual - IRB 1600/1660 303
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.9 Replacement of motor, axis 5, IRB 1660ID
Continued