ABB IRB 7600 Product Manual page 243

Required equipment
Equipment, etc.
Sealing, axis 2/3
Washer
Standard toolkit
Lifting eye, M12
Lifting device, upper arm
Lifting tool (chain)
Hoisting block
Guide pins, sealing axis 2/3
Guide pins, sealing axis 2/3
Other tools and procedures may be
required. See references to these
procedures in the step-by-step in-
structions 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
Product manual - IRB 7600
3HAC022033-001 Revision: AH
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.
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4.4.3 Replacement of complete upper arm
Art. no. Note
3HAC17213-1 Always use a new sealing
when reassembling!
3HAC11828-1 Replace if damaged!
- Content is defined in section
Standard tools on page
3HAC14457-3
3HAC15536-1
3HAC15556-1
- Standard hoisting block, capa-
city 200 kg.
3HAC14627-2 80 mm.
For guiding "Sealing, axis 2/3".
3HAC14627-3 100 mm
For guiding "Sealing, axis 2/3".
These procedures include ref-
erences 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
4 Repair
Continued
426.
Reference calibration
390.
Continues on next page
243