ABB IRB 7600 Series Product Manual page 372

4 Repair
4.7.3 Replacement of gearbox, axis 3
Continued
Equipment, etc.
Other tools and pro-
cedures may be re-
quired. See references
to these procedures in
the step-by-step in-
structions 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
Removal, gearbox axis 3
The procedure below details how to remove gearbox, axis 3.
1
Continues on next page
372
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 accord-
ingly prior to beginning the repair
procedure.
© Copyright 2007 - 2018 ABB. All rights reserved.
Art. no. Note
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
routine on page 409.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Product manual - IRB 7600
3HAC022033-001 Revision: V
Reference calibration