Required equipment
NoteArt. no.Equipment, etc.
For spare part num-
ber, see:
• Spare part
lists on
page 387
Rot. ac motor incl pinion
3HAB3772-81O-ring
The contents are defined in section
Standard tools on page 383.
Standard toolkit
24 VDC, max. 1,5 A.-Power supply
For releasing the brakes.
For adjusting the gear play.Rotation tool, motor
These procedures include refer-
ences to the tools required.
Other tools and procedures may
be required. See references to
these procedures in the step-by-
step instructions below.
See Circuit diagram on page 389.Circuit diagram
See Special tools on page 384.Pendulum Calibration tool
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page 159.
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.
NoteAction
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.
1
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.
Continues on next page
Product manual - IRB 1600/1660 285
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
4 Repair
4.6.6 Replacement of motor, axis 4, 1600ID/1660ID
Continued
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