ABB IRB 6650S Series Product Manual page 249

G
H
Required equipment
Equipment, etc.
Lifting accessory, robot
Guide pins M12 x 130
Roundsling 1,5 m
Hoisting block
Isopropanol
Standard toolkit
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.
1
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Block for calibration
Motor axis 1
Art. no.
3HAC15607-1
3HAC022637-001
-
-
-
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.
© Copyright 2004-2018 ABB. All rights reserved.
4.3.5 Replacement of complete arm system
Note
Instruction 3HAC15971-2 is enclosed!
Used to guide the complete arm system
when lifting it.
Always use the guide pins in pairs!
In order to make the refitting easier, it
is recommended to use two guide pins
of different lengths. Notice that longer
guide pins than 140 mm will not be
possible to remove from the frame be-
cause lack of space after refitting!
Lifting capacity 1,000 kg
Used to adjust the length of the lifting
chain.
Used for cleaning mounting surfaces.
Content is defined in section
tools on page 435.
These procedures include references
to the tools required.
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 402.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Continues on next page
4 Repair
Continued
Standard
Reference calibration
249