ABB IRB 7600 Series Product Manual page 339

Equipment, etc.
Calibration Pendulum toolkit
Calibration tool box, Axis Calib-
ration
Other tools and procedures may
be required. See references to
these procedures in the step-
by-step instructions below.
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.
1
Removal, motor axis 5
The procedure below details how to remove the motor, axis 5.
1
Product manual - IRB 7600
3HAC022033-001 Revision: V
Action
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.
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.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
© Copyright 2007 - 2018 ABB. All rights reserved.
4.6.5 Replacement of motor, axis 5
Art. no. Note
3HAC15716-1 Complete kit that also includes oper-
ating manual.
Required if Calibration Pendulum is
the valid calibration method for the
robot.
3HAC055412-001 Delivered as a set of calibration tools.
Required if Axis Calibration is the
valid calibration method for the robot.
These procedures include references
to the tools required.
See chapter
page
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
4 Repair
Continued
Circuit diagram on
447.
Reference calibration
409.
Note
Continues on next page
339