ABB IRB 6660, Product Manual

Page: 304 / 396

Note Art. no. Spare part no. Equipment, etc.
For guiding the motor. 3HAC15520-2 Guide pins M8 x 150
24 VDC, 1.5 A - Power supply
For releasing the brakes.
For lubricating the o-ring. 3HAB3537-1 Grease
Option Foundry Plus 12340011-116 Loctite 574, Flange
sealant
Content is defined in section
Standard tools on page 381 .
- Standard toolkit
Complete kit that also in-
cludes operating manual. 3HAC15716-1 Calibration Pendulum
toolkit
Required if Calibration Pendu-
lum is the valid calibration
method for the robot.
Delivered as a set of calibra-
tion tools. 3HAC055412-
001 Calibration tool box,
Axis Calibration
Required if Axis Calibration
is the valid calibration meth-
od for the robot.
These procedures include
references to the tools re-
quired. Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
See chapter Circuit diagram
on page 389 .
3HAC025744-
001 Circuit diagram
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 353 . 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 .
Continues on next page
304 Product manual - IRB 6660
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
4 Repair
4.6.5 Replacement of motor, axis 6
Continued