NoteAction
Lower arm cover, lower: Lower
arm, used for CRB 15000-10/1.52
and CRB 15000-12/1.27.
Refit the lower cover of lower arm with three
screws.
3
Tightening torque: 1.4 Nm.
xx2300000812
Concluding procedure
NoteAction
See Calibration on page 1051Calibrate 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 Testing the
brake release functionality on page 196.
1
DANGER
Make sure all safety requirements are met when
performing the first test run. See Test run after
installation, maintenance, or repair on page 90.
2
Product manual - CRB 15000 903
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27)
Continued
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