ABB IRB 7600 Series Product Manual page 268

4 Repair
4.4.4 Replacement of complete lower arm
Continued
Removal, lower arm
The procedure below details how to remove the complete lower arm.
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2
3
4
5
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Continues on next page
268
Action
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.
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Remove the upper arm.
Disconnect and remove the cables from inside
the lower arm.
Release any cable attachments.
Apply the lifting eye to the balancing device
and raise to unload the device.
Unload the balancing device in order to make
the piston rod and front ear adjustable when
pulling the front shaft out.
Remove the securing screw from the balancing
device front shaft.
© Copyright 2007 - 2018 ABB. All rights reserved.
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.
Note
Detailed in section Replacement of
complete upper arm on page
Detailed in section Replacement of
cable harness, axes 1-4 on page
Art. no. is specified in
ment on page 266.
Attachment is shown in the figure
ation of lower arm on page
Detailed in section Unloading the bal-
ancing device using hydraulic press
tool on page 306.
Shown in the figure Location of lower
arm on page 264.
Product manual - IRB 7600
3HAC022033-001 Revision: V
259.
233.
Required equip-
Loc-
264.