ABB IRB 6650S Series Product Manual page 357

Equipment, etc.
Support, base and
gear 1
Lifting accessory,
base
Lifting accessory
(chain)
Guide pins
Calibration Pendulum
toolkit
Calibration tool box,
Axis Calibration
Standard toolkit
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these pro-
cedures in the step-
by-step instructions
below.
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
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.
4.7.1 Replacing the axis 1 gearbox
Art. no. Note
3HAC15535-1
3HAC15560-1
3HAC15556-1
2 pcs, M16x150.
Used for guiding the gear-
box into place in the base.
Always use guide pins in
pairs!
3HAC15716-1 Complete kit that also in-
cludes operating manual.
Required if Calibration
Pendulum is the valid calib-
ration method for the robot.
3HAC055412-001 Delivered as a set of calib-
ration tools.
Required if Axis Calibration
is the valid calibration
method for the robot.
- Content is defined in sec-
tion Standard tools on
page
These procedures include
references to the tools re-
quired.
Note
Continues on next page
4 Repair
Continued
435.
357