ABB IRB 6660 - Page 7

2744.6 Motors ............................................................................................................
2744.6.1 Replacing motor, axis 1 ............................................................................
2814.6.2 Replacing motors, axes 2 and 3 .................................................................
2924.6.3 Replacement of motor, axis 4 ....................................................................
2974.6.4 Replacement of motor, axis 5 ...................................................................
3034.6.5 Replacement of motor, axis 6 ....................................................................
3114.7 Gearboxes .......................................................................................................
3114.7.1 Replacing the axis 1 gearbox .....................................................................
3244.7.2 Replacing the gearbox, axes 2- 3 ...............................................................
3364.7.3 Replacement of gearbox, axis 6 .................................................................
3415 Calibration
3415.1 Introduction to calibration ...................................................................................
3415.1.1 Introduction and calibration terminology ......................................................
3425.1.2 Calibration methods .................................................................................
3445.1.3 When to calibrate ...................................................................................
3455.2 Synchronization marks and axis movement directions .............................................
3455.2.1 Synchronization marks and synchronization position for axes .........................
3475.2.2 Calibration movement directions for all axes ................................................
3485.3 Updating revolution counters ...............................................................................
3525.4 Calibrating with Axis Calibration method ...............................................................
3525.4.1 Description of Axis Calibration ..................................................................
3545.4.2 Calibration tools for Axis Calibration ...........................................................
3565.4.3 Installation locations for the calibration tools ...............................................
3575.4.4 Axis Calibration - Running the calibration procedure ......................................
3635.5 Calibrating with Calibration Pendulum method ........................................................
3645.6 Verifying the calibration ......................................................................................
3655.7 Checking the synchronization position ..................................................................
3676 Decommissioning
3676.1 Introduction ......................................................................................................
3686.2 Environmental information ..................................................................................
3696.3 Scrapping of robot .............................................................................................
3706.4 Decommissioning of balancing device ...................................................................
3737 Reference information
3737.1 Introduction ......................................................................................................
3747.2 Applicable standards .........................................................................................
3767.3 Unit conversion .................................................................................................
3777.4 Screw joints ....................................................................................................
3807.5 Weight specifications .........................................................................................
3817.6 Standard tools ..................................................................................................
3827.7 Special tools ....................................................................................................
3857.8 Lifting accessories and lifting instructions ..............................................................
3878 Spare part lists
3878.1 Spare part lists and illustrations ...........................................................................
3899 Circuit diagram
3899.1 Circuit diagrams ................................................................................................
391Index
Product manual - IRB 6660 7
3HAC028197-001 Revision: S
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