ABB IRB 760 Series Product Manual page 245

Removal, link
Use this procedure to remove the link of the linkage.
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2
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Product manual - IRB 760
3HAC039838-001 Revision: M
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
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
Secure the link with a roundsling in a crane.
Use the hole in the middle of the link.
This is done to prevent the link from moving
when the upper link arm and lower link arm
are removed.
© Copyright 2011-2018 ABB. All rights reserved.
4.4.6 Replacement of linkage - link
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 361.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
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4 Repair
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