ABB IRB 6650S Series Product Manual page 326

4 Repair
4.6.2 Replacement of motor axis 2
Continued
Equipment, etc.
Lifting tool, motor ax
2, 3, 4
Extension bar, 300
mm for bits 1/2"
Power supply
Rotation tool
Standard toolkit
Calibration Pendulum
toolkit
Calibration tool box,
Axis Calibration
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these pro-
cedures 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
Continues on next page
326
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.
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Art. no. Note
3HAC15534-1
3HAC12342-1
- 24 VDC, 1.5 A
For releasing the brakes.
3HAC17105-1 Used to rotate the motor
pinion when mating it to the
gear when brakes are re-
leased with 24VDC power
supply.
- Content is defined in sec-
tion Standard tools on
page
3HAC15716-1 Complete kit that also in-
cludes operating manual.
Required if Calibration Pen-
dulum is the valid calibra-
tion method for the robot.
3HAC055412-001 Delivered as a set of calibra-
tion tools.
Required if Axis Calibration
is the valid calibration
method for the robot.
These procedures include
references to the tools re-
quired.
See chapter
on page
Note
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
435.
Circuit diagram
441.