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4.3.3
Replacement of cable harness, axes 5-6 ......................................................
4.3.4
Replacement of cabling, axis 5 motor ..........................................................
4.3.5
Replacement of complete arm system .........................................................
4.4
Upper and lower arm .........................................................................................
4.4.1
Replacing the turning disk ........................................................................
4.4.2
Replacement of complete wrist unit ............................................................
4.4.3
Replacement of upper arm ........................................................................
4.4.4
Replacement of complete lower arm ...........................................................
4.4.5
Replacement of lower arm shaft .................................................................
4.4.6
Securing the lower arm ............................................................................
4.5
Frame and base ................................................................................................
4.5.1
Replacing the SMB unit ............................................................................
4.5.2
Replacing the brake release board .............................................................
4.5.3
Replacement of spherical roller bearing, balancing device ..............................
4.5.4
Replacement of balancing device ...............................................................
4.5.4.1 Replacing the balancing device ......................................................
4.5.4.2 Unloading the balancing device using hydraulic press tool ..................
4.5.4.3 Restoring the balancing device using a hydraulic press tool ................
4.6
Motors ............................................................................................................
4.6.1
Replacement of motor, axis 1 ....................................................................
4.6.2
Replacement of motor axis 2 .....................................................................
4.6.3
Replacement of motor, axis 3 ....................................................................
4.6.4
Replacement of motor, axis 4 ....................................................................
4.6.5
Replacement of motor, axis 5 ...................................................................
4.6.6
Replacement of motor, axis 6 ....................................................................
4.7
Gearboxes .......................................................................................................
4.7.1
Replacing the axis 1 gearbox .....................................................................
4.7.2
Replacement of gearbox axis 2 ..................................................................
4.7.3
Replacement of gearbox, axis 3 .................................................................
4.7.4
Replacement of gearbox, axis 6 .................................................................
5
5.1
Introduction to calibration ...................................................................................
5.1.1
Introduction and calibration terminology ......................................................
5.1.2
Calibration methods .................................................................................
5.1.3
When to calibrate ...................................................................................
5.2
Synchronization marks and axis movement directions .............................................
5.2.1
Synchronization marks and synchronization position for axes .........................
5.2.2
Calibration movement directions for all axes ................................................
5.3
Updating revolution counters ...............................................................................
5.4
Calibrating with Axis Calibration method ...............................................................
5.4.1
Description of Axis Calibration ..................................................................
5.4.2
Calibration tools for Axis Calibration ...........................................................
5.4.3
Installation locations for the calibration tools ...............................................
5.4.4
Axis Calibration - Running the calibration procedure ......................................
5.5
Calibrating with Calibration Pendulum method ........................................................
5.6
Verifying the calibration ......................................................................................
5.7
Checking the synchronization position ..................................................................
6
6.1
Environmental information ..................................................................................
6.2
Scrapping of robot .............................................................................................
6.3
Decommissioning of balancing device ...................................................................
7
7.1
Type A vs type B motors ....................................................................................
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
© Copyright 2004-2018 ABB. All rights reserved.
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