ABB IRB 660, Product Manual, Page: 325 / 362

Action Situation
Remove the calibration tool, if it is installed,
and restart the calibration procedure from
the beginning. See
Starting the calibration
procedure on page 323 .
The RobotWare program is terminated with
PP to Main .
If the calibration tool is in contact the robot
axis needs to be jogged in order to release
the calibration tool. Jogging the axis in wrong
direction will cause the calibration tool to
break. Directions of axis movement is shown
in
Calibration movement directions for all
axes on page 310
Axis Calibration with SafeMove option
To be able to run Axis Calibration, SafeMove needs to be unsynchronized. The
Axis Calibration routine recognizes if the robot is equipped with SafeMove and will
force SafeMove to unsynchronize automatically.
However, SafeMove may generate other warning messages anytime during the
Axis Calibration routine. When a warning message is displayed, tap
Acknowledge
to confirm the unsynchronized state and continue Axis Calibration procedure.
CAUTION
SafeMove must be synchronized after the calibration is completed.
After calibration
Note Action
xx1600002102
Check the o-ring on the fixed calibration pin.
Replace if damaged or missing. 1
Reinstall the protective cover on the fixed calibra-
tion pin on each axis, directly after the axis has
been calibrated.
Replace the cover with new spare part, if missing
or damaged. 2
Protection cover and plug set:
3HAC056806-001.
Continues on next page
Product manual - IRB 660 325
3HAC025755-001 Revision: W
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5 Calibration
5.4.4 Axis Calibration - Running the calibration procedure
Continued