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4.3.5
Replacing the brake release board .............................................................
4.3.6
Replacing the base ..................................................................................
4.4
Upper arm .......................................................................................................
4.4.1
Replacing the complete upper arm .............................................................
4.4.2
Replacing complete tubular shaft unit .........................................................
4.4.3
Replacing wrist unit .................................................................................
4.4.4
Measuring the play, axis 5 .........................................................................
4.4.5
Measuring the play, axis 6 .........................................................................
4.5
Lower arm .......................................................................................................
4.5.1
Replacing the lower arm ...........................................................................
4.6
Frame and base ................................................................................................
4.6.1
Replacing stop pin axis 1 ..........................................................................
4.7
Motors ............................................................................................................
4.7.1
Removing motors ....................................................................................
4.7.2
Refitting motors ......................................................................................
4.7.3
Adjusting the play of axis 4, 5 and 6 motors .................................................
4.8
Gearboxes .......................................................................................................
4.8.1
Replacing gearbox axis 1 ..........................................................................
4.8.2
Replacing gearbox axis 2 ..........................................................................
4.8.3
Replacing gearbox axis 3 ..........................................................................
5
5.1
Introduction to calibration ...................................................................................
5.1.1
Introduction and calibration terminology ......................................................
5.1.2
Calibration methods .................................................................................
5.1.3
When to calibrate ...................................................................................
5.2
Synchronization marks and axis movement directions .............................................
5.2.1
Synchronization marks and synchronization position for axes .........................
5.2.2
Calibration movement directions for all axes ................................................
5.3
Updating revolution counters ...............................................................................
5.4
Calibrating with Axis Calibration method ...............................................................
5.4.1
Description of Axis Calibration ..................................................................
5.4.2
Calibration tools for Axis Calibration ...........................................................
5.4.3
Installation locations for the calibration tools ...............................................
5.4.4
Axis Calibration - Running the calibration procedure ......................................
5.5
Calibrating with Calibration Pendulum method ........................................................
5.6
Verifying the calibration ......................................................................................
5.7
Checking the synchronization position ..................................................................
6
6.1
Introduction ......................................................................................................
6.2
Environmental information ..................................................................................
6.3
Scrapping of robot .............................................................................................
7
7.1
Introduction ......................................................................................................
7.2
Applicable standards .........................................................................................
7.3
Unit conversion .................................................................................................
7.4
Screw joints ....................................................................................................
7.5
Weight specifications .........................................................................................
7.6
Standard tools ..................................................................................................
7.7
Special tools ....................................................................................................
7.8
Lifting accessories and lifting instructions ..............................................................
8
8.1
Spare part lists and illustrations ...........................................................................
Product manual - IRB 4600 Foundry Prime
3HAC040585-001 Revision: M
© Copyright 2013-2018 ABB. All rights reserved.
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