ABB IRB 6650S Series Product Manual page 333

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
Removal, motor
The procedure below details how to remove motor, axis 3.
1
2
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.
Action
Decide which calibration routine to
use, and take actions accordingly
prior to beginning the repair proced-
ure.
Unload the upper arm of the robot
by either:
• Use a fork lift to rest the up-
per arm onto.
• Use lifting slings and an
overhead crane to rest the
upper arm.
• Use a mechanical stop to rest
the upper arm. Fit the mech-
anical stop in the attachment
hole (A) with tightening
torque: 115 Nm.
© Copyright 2004-2018 ABB. All rights reserved.
4.6.3 Replacement of motor, axis 3
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.
Note
xx0300000051
Fit the mechanical stop to the third and final attach-
ment hole (A), below the fixed stop (B) in the upper
arm. See the figure above!
Continues on next page
4 Repair
Continued
Reference calibration
333