Contents - Table Of Contents
- Table Of Contents
- Table Of Contents
- Overview of this manual
- Product documentation
- How to read the product manual
- Safety
- Protective stop and emergency stop
- Safety actions
- Emergency release of the robot axes
- Make sure that the main power has been switched off
- Safety risks
- Moving robots are potentially lethal
- First test run may cause injury or damage
- Work inside the working range of the robot
- Enabling device and hold-to-run functionality
- Risks associated with live electric parts
- The unit is sensitive to ESD
- Hot parts may cause burns
- Safety risks related to pneumatic/hydraulic systems
- Brake testing
- Safety risks during handling of batteries
- Safety risks during work with gearbox lubricants (oil or grease)
- Safety signals and symbols
- Safety symbols on product labels
- Installation and commissioning
- Unpacking
- Working range
- Risk of tipping/stability
- On-site installation
- Lifting and turning a suspended mounted robot
- Manually releasing the brakes
- Orienting and securing the robot
- Setting the system parameters for a suspended or tilted robot
- Loads fitted to the robot, stopping time and braking distances
- Fitting equipment on the robot (robot dimensions)
- Installation of signal lamp for 1600 (option)
- Installation of signal lamp for 1600ID/1660ID (option)
- Installation of the wire feeder shelf for 1600ID/1660ID
- Restricting the working range
- Installation of additional mechanical stops on axis 1
- Installation of additional mechanical stop on axis 2
- Installation of additional mechanical stops on axis 3
- Installation of position switch, axis 1
- Electrical connections
- Robot cabling and connection points
- Customer connections on the robot
- Start of robot in cold environments
- Maintenance
- Maintenance schedule and expected component life
- Maintenance schedule
- Expected component life
- Inspection activities
- Inspecting information labels
- Replacement activities
- Changing the oil in axes 5 and 6 gearboxes
- Changing the oil in axes 5 and axis 5 and 6 gearboxes, IRB 1600ID/1660ID
- Replacing the battery pack
- Cleaning activities
- Repair
- General procedures
- Mounting instructions for bearings
- Mounting instructions for seals
- Cut the paint or surface on the robot before replacing parts
- The brake release buttons may be jammed after service work
- Complete manipulator
- Replacing the cable harness, 1600ID/1660ID
- Replacement of complete arm system
- Upper and lower arm
- Replacing the complete upper arm, IRB 1600ID/1660ID
- Replacing the complete lower arm
- Replacing the wrist unit, IRB 1600
- Replacing the wrist unit, IRB 1600ID
- Replacing the wrist unit, IRB1660ID
- Replacing the damper, axis 2
- Replacing the damper, axis 3
- Replacing the mechanical stop axis 3, IRB 1600ID/1660ID
- Replacement of damper, axis 5
- Remove upper arm AW Gun
- Measuring the play 1600ID/1660ID, axis 5
- Measuring the play 1600ID/1660ID, axis 6
- Frame and base
- Replacing the serial measurement unit
- Replacing the push button unit
- Motors
- Replacement of motor, axis 2
- Replacement of motor, axis 3, IRB 1600
- Replacement of motor, axis 3, 1600ID/1660ID
- Replacement of motor, axis 4, IRB 1600
- Replacement of motor, axis 4, 1600ID/1660ID
- Replacement of motor and timing belt, axis 5, IRB 1600
- Replacement of motor, axis 5, IRB 1600ID
- Replacement of motor, axis 5, IRB 1660ID
- Replacement of motor and timing belt, axis 6, IRB 1600
- Replacement of motor, axis 6, IRB 1600ID
- Replacement of motor, axis 6, IRB 1660ID
- Gearboxes
- Service work on gearboxes, axes 3, 4, 5 and 6
- Calibration
- Calibration methods
- When to calibrate
- Synchronization marks and axis movement directions
- Calibration movement directions for all axes
- Updating revolution counters
- Calibrating with Axis Calibration method
- Calibration tools for Axis Calibration
- Installation locations for the calibration tools
- Axis Calibration - Running the calibration procedure
- Calibrating with Calibration Pendulum method
- Verifying the calibration
- Checking the synchronization position
- Decommissioning
- Scrapping of robot
- Robot description
- Type A of IRB 1600ID
- Reference information
- Applicable standards
- Unit conversion
- Screw joints
- Weight specifications
- Standard tools
- Special tools
- Lifting accessories and lifting instructions
- Spare part lists
- Circuit diagram
- Index
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5.4.4 Axis Calibration - Running the calibration procedureRequired toolsThe calibration tools used for Axis Calibration are designed to meet requirementsfor calibration performance, durability and safety in case of accidental damage.WARNINGCalibrating the robot with Axis Calibration requires special calibration tools fromABB. Using other pins in the calibration holes may cause severe damage to therobot and/or personnel.NoteArticle numberEquipment, etc.Delivered as a set of calibration tools.Required if Axis Calibration is the validcalibration method for the robot.Contains a removal tool for removingspecial protection plugs on the turningdisc.3HAC062326-001Calibration tool box, AxisCalibrationRequired consumablesNoteArticle numberConsumable-Clean clothSpare partsNoteArticle numberSpare partContains replacement calibrationpin covers and protective plugsfor the bushing.3HAC059487-001Protection cover and plug setReplace if damaged or missing.3HAC057676-001(IRB 1660ID)Protective plug on turning disc3HAC061134-001(IRB 1600)Overview of the calibration procedure on the FlexPendantThe actual instructions of how to perform the calibration procedure and what todo at each step is given on the FlexPendant. You will be guided through thecalibration procedure, step by step.Use the following list to learn about the calibration procedure before running theRobotWare program on the FlexPendant. It gives you a brief overview of thecalibration procedure sequence.After the calibration method has been called for on the FlexPendant, the followingsequence will be run.1 Choose calibration routine. The routines are described in Routines in thecalibration procedure on page 350.2 Choose which axis/axes to calibrate.3 The robot moves to synchronization position.Continues on next page358 Product manual - IRB 1600/16603HAC026660-001 Revision: W© Copyright 2006-2018 ABB. All rights reserved.5 Calibration5.4.4 Axis Calibration - Running the calibration procedure
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