NoteAction
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
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.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 350.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removal, complete upper arm
The procedure below details how to remove the complete upper arm from the robot.
Note/IllustrationAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
1
Move the upper arm to a horizontal position.2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot working
area.
3
Shown in the figure Location of upper
arm on page 183.
Remove the arm housing cover from the upper
arm.
4
The cabling and all connectors inside
the upper arm housing are shown in
the figure Illustration, cabling inside
upper arm housing on page 166.
Disconnect all connectors inside the arm
housing and loosen the cabling from straps
and brackets.
5
Shown in the figure Location of upper
arm on page 183.
Remove the VK-cover from the lower arm by
pushing it out from the inside.
Pull out the cabling from the arm housing.
6
Secure the weight of the arm with lifting slings.7
CAUTION
The complete upper arm weighs 55 kg without
any additional equipment fitted!
All lifting accessories used must be sized ac-
cordingly!
8
Continues on next page
Product manual - IRB 1600/1660 185
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.4.1 Replacing the complete upper arm, IRB 1600
Continued
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