Required equipment
NoteArt.no.Equipment, etc.
For spare part part num-
ber, see Spare part lists on
page 353.
Upper arm, axis 4
2 pcsFor spare part part num-
ber, see Spare part lists on
page 353.
Support ring
Install on a new upper arm.
Used on the axis-3 shaft.3HAC071308-001Adapter
-Grease filling tool
Mercasol 3110 Waxcoat3HAC034903-001Rust preventive
Used to press in the support rings
in the upper arm housing.
3HAC072616-001Press tool, support ring
Used on the bearings.3HAC023084-001Pressing tool, upper arm
3HAC023739-001KM12 socket
Content is defined in section
Standard tools on page 347.
-Standard toolkit
These procedures include refer-
ences to the tools required.
Other tools and proced-
ures may be required. See
references to these proced-
ures in the step-by-step in-
structions below.
See chapter Circuit diagrams on
page 355.
-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.
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 316.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 660 193
3HAC025755-001 Revision: W
© Copyright 2006-2020 ABB. All rights reserved.
4 Repair
4.4.3 Replacement of upper arm
Continued
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