ABB CRB 15000, Product Manual, Page: 939 / 1096

Note Action
Hex socket head cap screw: M3x12
12.9 Lafre 2C2B/FC6.9 (3 pcs) x 2 Snap the lower arm cover into place. 3
Secure the cover with three screws. 4
Tightening torque: 1.4 Nm.
xx2300000812
xx2300000829
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
Continues on next page
Product manual - CRB 15000 939
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
5 Repair
5.6.5 Replacing the axis-3 joint unit
Continued