ABB IRB 6650S Series Product Manual page 259

Required equipment
Equipment etc.
Wrist unit
Cover for wrist unit
Guide pins M12 x 200
Lifting accessory, wrist unit
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
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.
1
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
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.
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.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Art. no. Note
For spare part number,
see Spare part lists on
page 425.
For spare part number,
see Spare part lists on
page 425.
3HAC13056-3 Always use guide pins in pairs!
3HAC13605-1
- Content is defined in section
Standard tools on page
These procedures include refer-
ences to the tools required.
See chapter
page
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
4 Repair
Continued
435.
Circuit diagram on
441.
Reference calibration
402.
Continues on next page
259