ABB IRB 7600 Series Product Manual page 384

4 Repair
4.7.5 Replacement of gearbox, axis 5
Continued
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
The procedure below details how to remove the gearbox, axis 5.
1
2
3
4
5
6
Continues on next page
384
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.
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.
Drain the oil from the primary gearbox.
Drain the oil from the secondary gearbox.
Remove the motor, axis 5.
Remove the cover, axis 5 gearbox by unscrewing its
attachment screws.
© 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
axis-5 gearbox on page
Detailed in section
axis-5 gearbox on page
Detailed in section
of motor, axis 5 on page
Shown in the figure
gearbox on page
Product manual - IRB 7600
3HAC022033-001 Revision: V
Changing oil,
197.
Changing oil,
197.
Replacement
338.
Location of
382!