ABB IRB 7600 Series Product Manual page 390

4 Repair
4.7.6 Replacement of gearbox, axis 6
Continued
Equipment, etc.
O-ring
Grease
Flange sealant
Standard toolkit
Calibration Pendulum
toolkit
Calibration tool box,
Axis Calibration
Other tools and pro-
cedures may be re-
quired. See refer-
ences to these pro-
cedures in the step-
by-step instructions
below.
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
Continues on next page
390
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.
© Copyright 2007 - 2018 ABB. All rights reserved.
Art. no. Note
3HAB3772-49 Must be replaced when re-
assembling gearbox!
3HAB3772-83
3HAB3537-1 For lubricating the o-ring.
12340011-116 Loctite 574
- Content is defined in sec-
tion Standard tools on
page
3HAC15716-1 Complete kit that also in-
cludes operating manual.
Required if Calibration
Pendulum is the valid calib-
ration method for the robot.
3HAC055412-001 Delivered as a set of calib-
ration tools.
Required if Axis Calibration
is the valid calibration
method for the robot.
These procedures include
references to the tools re-
quired.
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 Reference calibration
routine on page 409.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 7600
3HAC022033-001 Revision: V
439.