ABB IRB 7600 Series Product Manual page 255

Equipment, etc.
Friction washer
Lifting tool, wrist unit
Standard toolkit
Calibration Pendulum toolkit
Calibration tool box, Axis Calibra-
tion
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
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.
© Copyright 2007 - 2018 ABB. All rights reserved.
4.4.2 Replacement of complete wrist unit
Art. no. Note
3HAC11755-1 A new friction washer must always
be used when refitting the wrist
unit.
3HAC12734-1
- Content is defined in section
Standard tools on page
3HAC15716-1 Complete kit that also includes op-
erating 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 ro-
bot.
These procedures include refer-
ences 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
439.
Circuit diagram on
447.
Reference calibration
409.
Continues on next page
255