ABB IRB 4600 Foundry Prime Product Manual page 308

4 Repair
4.7.1 Removing motors
Continued
Weights
The motors for the different axes weighs according to the table:
Motor
Axis-1 motor
Axis-2 motor
Axis-3 motor
Axis-4 motor
Axis-5 motor
Axis-6 motor
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
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308
CAUTION
All lifting equipment must be sized accordingly!
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
© Copyright 2013-2018 ABB. All rights reserved.
Weight in kg
13 kg
25 kg
13 kg
8 kg
8 kg
8 kg
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 365.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Product manual - IRB 4600 Foundry Prime
3HAC040585-001 Revision: M