ABB CRB 15000 Product Manual page 847

5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27)
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Concluding procedure
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2
Product manual - CRB 15000
3HAC077389-001 Revision: L
Action
Refit the cover with the four screws.
Action
Calibrate the joint unit torque sensor.
1 On the FlexPendant, go to the Code app
and call the calibration procedure using PP
to Routine, not by using Call Routine.
2 Select the Joint Unit Replacement feature
and then select the axis to calibrate.
3 The controller is now restarted. Once the
home screen of the FlexPendant is shown,
press the Play button to continue the calib-
ration routine.
4 The robot moves to a position or positions
where measurements are performed.
5 The results of the measurements are
presented together with the current values
in the controller. Choose whether to save
the calibration data or not.
6 If new calibration data is saved you will be
asked to do a test with the lead-through
functionality active to verify that the
sensors work correctly.
7 Finally the robot is moved back to the ori-
ginal position.
8 Test the brake release (movement without
drive power) functionality, see
brake release functionality on page
DANGER
Make sure all safety requirements are met when
performing the first test run. See
installation, maintenance, or repair on page
© Copyright 2021 - 2023 ABB. All rights reserved.
Note
Hex socket head cap screw: M3x12
12.9 Lafre 2C2B/FC6.9 (4 pcs)
Tightening torque: 1.4 Nm
xx2300000814
Note
See Calibration on page 1051
Testing the
196.
Test run after
90.
5 Repair
Continued
847