ABB CRB 15000, Product Manual, Page: 328 / 1096

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
Refitting the joint cabling (-10/1.52 and -12/1.27)
Use these procedures to refit the joint-2 cabling.
Refitting the joint cable
Note Action
ELECTROSTATIC DISCHARGE (ESD)
The unit is sensitive to ESD. Before handling the
unit read the safety information in section
The
unit is sensitive to ESD on page 53 .
1
xx2000002048
Place the joint cable through the hollow shaft from
the torque sensor side.
CAUTION
The connectors and the joint unit cables are
sensitive to mechanical damage. Handle the as-
sembly with care.
2
Continues on next page
328 Product manual - CRB 15000
3HAC077389-001 Revision: L
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5 Repair
5.3.3 Replacing the axis-2 cabling
Continued