ABB IRB 7600 Product Manual page 343

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 gearbox, axis 2.
1
2
3
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.
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
Remove any equipment fitted to the turning disk.
Run the robot to the calibration position. The up-
per arm may be directed in three different ways,
shown in figure to the right.
The lowered position, as in figure A, is recommen-
ded as it gives the least load on the tool.
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4.7.2 Replacement of gearbox, axis 2
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 390.
Note
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4 Repair
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