ABB IRB 6660, Product Manual

Page: 325 / 396

Note Art.no Equipment, etc.
Use to lubricate surfaces on the
gearbox for easier assembly. Grease
Shell Alvania W R2 3HAB3537-1 Bearing grease
Option Foundry Plus
Mercasol 3110 Waxcoat 3HAC034903-001 Rust preventive
Content is defined in section Stand-
ard tools on page 381 .
Standard toolkit
These procedures include refer-
ences to the tools required. 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.
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 .
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, axis-2 / axis-3 gearbox
Use this procedure to remove the axis-2 or axis-3 gearbox.
Note
Do not replace both gearboxes at the same time, unless the complete arm system
is already removed!
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Product manual - IRB 6660 325
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
4 Repair
4.7.2 Replacing the gearbox, axes 2- 3
Continued