ABB IRB 6650S Series Product Manual page 344

4 Repair
4.6.5 Replacement of motor, axis 5
Continued
Equipment, etc.
Isopropanol
Mineral oil
Removal tool, motor M10x
Oil injector / max 500 MPa
Press fixture (for pinion)
Measuring tool
Guide pins M8 x 100
Guide pins M8 x 150
Power supply
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions 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
344
Art. no.
11771012-208
CS 320
3HAC14972-1
3HAC021590-001
-
6896134-GN
3HAC15520-1
3HAC15520-2
-
-
-
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.
Note
For cleaning motor pinion and motor
pinion hole.
For lubrication of pinion shaft and
pinion hole.
Always use the removal tools in pairs!
For pressing out the pinion, motor 5.
For pressing the pinion on to the new
motor.
For guiding the motor.
For guiding the motor.
24 VDC, 1.5 A
For releasing the brakes.
Content is defined in section
ard tools on page 435.
These procedures include references
to the tools required.
See chapter Circuit diagram on
page 441.
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 Reference calibration
routine on page 402.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
Stand-