NoteActionFollow the instructions given in the refer-ence calibration routine on the FlexPendantto create reference values.If the robot is to be calibrated with refer-ence calibration:Find previous reference values for the axisor create new reference values. These val-ues are to be used after the repair proced-ure is completed, for calibration of the ro-bot.Creating new values requires possibility tomove the robot.Read more about reference calibration forAxis Calibration in Reference calibrationroutine on page 361.If no previous reference values exist, andno new reference values can be created,then reference calibration is not possible. Read more about reference calibration forPendulum Calibration in Operating manu-al - Calibration Pendulum.If the robot is to be calibrated with finecalibration:Remove all external cable packages(DressPack) and tools from the robot.Removing the upper armPreparations with the robot powered upNoteActionDecide which calibration routine to use, andtake actions accordingly prior to beginningthe repair procedure.1Remove all equipment fitted to upper armand tilthouse unit.2Shown in the figure:• Synchronization marks and syn-chronization position for axes onpage 353Jog the robot to calibration position.3See section• Replacing the balancing device onpage 278Remove the balancing device.4Put two pallets underneath the counter weightand jog axis 3 so that the counter weight restson the pallets.5Release the brake of axis 3 so that thecounter weight really rests on the pallets.6Jog the lower arm forward to get a bettermounting position in the continued removalprocedure.7DANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the robot work-ing area.8Continues on next page214 Product manual - IRB 7603HAC039838-001 Revision: M© Copyright 2011-2018 ABB. All rights reserved.4 Repair4.4.3 Replacing the upper armContinued
