ABB CRB 15000, Product Manual, Page: 1026 / 1096

Note Action
Hex socket head cap screw: M3x8
12.9 Lafre 2C2B/FC6.9 (4 pcs) Refit the cover with the four screws. 4
Tightening torque: 0.2 Nm (for CRB
15000-5/0.95) / 0.9 Nm (for CRB
15000-10/1.52 and CRB 15000-
12/1.27)
Tightening torque: 0.9 Nm
xx2000002083
Concluding procedure
Note Action
See Calibration on page 1051 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
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
1026 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.6.7 Replacing the axis-5 joint unit and the axis-5 to axis-6 transition cabling
Continued