ABB CRB 15000 Product Manual page 978

5 Repair
5.6.6 Replacing the axis-4 joint unit
Continued
2
3
Concluding procedure
1
Continues on next page
978
Action
Fit the o-ring to its groove.
Replace if damaged.
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
© Copyright 2021 - 2023 ABB. All rights reserved.
Note
O-ring: 3HAC061327-047
xx2300000835
Hex socket head cap screw: M3x30
12.9 Lafre 2C2B/FC6.9 (4 pcs)
Tightening torque: 1.4 Nm
xx2300000833
Note
See Calibration on page 1051
Testing the
196.
Product manual - CRB 15000
3HAC077389-001 Revision: L