ABB IRB 6650S Series Product Manual page 321

Equipment, etc.
Mobilux EP 2
Grease
Removal tool, motor
M12x
Lifting tool, motor ax
1, 4, 5
Power supply
Standard toolkit
Calibration Pendulum
toolkit
Calibration tool box,
Axis Calibration
Other tools and proced-
ures may be required.
See references to
these procedures in
the step-by-step in-
structions 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
Spare part no.
-
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.
© Copyright 2004-2018 ABB. All rights reserved.
4.6.1 Replacement of motor, axis 1
Art. no. Note
- Used to lubricate the mo-
tor clutch.
3HAB3537-1 Used to lubricate the o-
ring.
3HAC14631-1 Always use the removal
tools in pairs!
3HAC14459-1
- 24 VDC, max. 1,5 A
For releasing the brakes.
- Content is defined in sec-
tion Standard tools on
page 435.
3HAC15716-1 Complete kit that also in-
cludes operating manual.
Required if Calibration
Pendulum is the valid cal-
ibration method for the
robot.
3HAC055412-001 Delivered as a set of calib-
ration tools.
Required if Axis Calibra-
tion is the valid calibration
method for the robot.
These procedures include
references to the tools re-
quired.
See chapter
gram on page
Note
Continues on next page
4 Repair
Continued
Circuit dia-
441.
321