ABB IRB 6620 - Page 7

2424.6 Motors ............................................................................................................
2424.6.1 Replacement of motor, axis 1 ....................................................................
2474.6.2 Replacement of motor axis 2 .....................................................................
2534.6.3 Replacement of motor, axis 3 ....................................................................
2604.6.4 Replacement of motor, axis 4 ....................................................................
2654.6.5 Replacement of motor, axis 5 , IRB 6620/6620LX ...........................................
2704.6.6 Replacement of motor, axis 6 ....................................................................
2774.7 Gearboxes .......................................................................................................
2774.7.1 Replacement gearbox axis 1 .....................................................................
2864.7.2 Replacement gearbox axis 2 .....................................................................
2944.7.3 Replacement of gearbox axis 3 ..................................................................
2994.7.4 Replacement of gearbox, axis 6 .................................................................
3055 Calibration
3055.1 Introduction to calibration ...................................................................................
3055.1.1 Introduction and calibration terminology ......................................................
3065.1.2 Calibration methods .................................................................................
3095.1.3 When to calibrate ...................................................................................
3105.2 Synchronization marks and axis movement directions .............................................
3105.2.1 Synchronization marks and synchronization position for axes .........................
3125.2.2 Calibration movement directions for all axes ................................................
3135.3 Updating revolution counters ...............................................................................
3195.4 Calibrating with Axis Calibration method ...............................................................
3195.4.1 Description of Axis Calibration ..................................................................
3225.4.2 Calibration tools for Axis Calibration ...........................................................
3245.4.3 Installation locations for the calibration tools ...............................................
3265.4.4 Axis Calibration - Running the calibration procedure ......................................
3325.5 Calibrating with Calibration Pendulum method ........................................................
3335.6 Verifying the calibration ......................................................................................
3345.7 Checking the synchronization position ..................................................................
3356 Decommissioning
3356.1 Environmental information ..................................................................................
3376.2 Scrapping of robot .............................................................................................
3397 Reference information
3397.1 Applicable standards .........................................................................................
3417.2 Unit conversion .................................................................................................
3427.3 Screw joints ....................................................................................................
3457.4 Weight specifications .........................................................................................
3467.5 Standard tools ..................................................................................................
3477.6 Special tools ....................................................................................................
3497.7 Lifting accessories and lifting instructions ..............................................................
3518 Spare part lists
3518.1 Spare part lists and illustrations ...........................................................................
3539 Circuit diagram
3539.1 Circuit diagrams ................................................................................................
355Index
Product manual - IRB 6620 7
3HAC027151-001 Revision: T
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