ABB IRB 7600 Series Product Manual page 246

4 Repair
4.3.3 Replacement of complete arm system
Continued
G
H
Required equipment
Equipment, etc.
Lifting device, robot
Guide pins, M12 x 130
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures 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
Removal, complete arm system
The procedure below details how to lift and remove the complete arm system.
1
Continues on next page
246
Balancing device
Block for calibration
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 accordingly prior to beginning the
repair procedure.
© Copyright 2007 - 2018 ABB. All rights reserved.
Art. no. Note
3HAC15607-1 Instruction 3HAC15971-2 enclosed!
- Used to guide the complete arm sys-
tem when refitting.
- Content is defined in section
ard tools on page
These procedures include references
to the tools required.
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.
Note
Stand-
439.
Reference calibration
409.
Product manual - IRB 7600
3HAC022033-001 Revision: V