ABB IRB 6660 - 130/3.1 User Manual

NoteArt. no.Equipment, etc.
Complete kit that also includes
operating manual.
3HAC15716-1Calibration Pendulum toolkit
Required if Calibration Pendulum
is the valid calibration method for
the robot.
Delivered as a set of calibration
tools.
3HAC055412-001Calibration tool box, Axis Calibra-
tion
Required if Axis Calibration is the
valid calibration method for the
robot.
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
See chapter Circuit diagram on
page 389.
3HAC025744-001Circuit 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.
NoteAction
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, motor axis 4
The procedure below details how to remove the motor, axis 4.
NoteAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
1
Continues on next page
Product manual - IRB 6660 293
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
4 Repair
4.6.3 Replacement of motor, axis 4
Continued

ABB IRB 6660 - 130/3.1 Specifications

General

Brand	ABB
Model	IRB 6660 - 130/3.1
Category	Robotics
Language	English