ABB IRB 460 Series Product Manual page 214

4 Repair
4.4.3 Replacing the upper arm
Continued
Equipment, etc.
Press tool, upper arm
Support, bushing
Socket, KM 12
Locking liquid
Bearing grease
Lubricant paste
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures in
the step-by-step instructions
below.
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.
1
Continues on next page
214
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.
© Copyright 2012-2018 ABB. All rights reserved.
Art.no.
3HAC040026-001
3HAC040026-004
3HAC040023-001
3HAB7116-1
3HAB3537-1
-
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
routine on page
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
Including:
• 3HAC040021-004
Thread washer
• 3HAC040021-005 Hy-
draulic cylinder
• 3HAC040026-003
Press bushing
• 3HAC040026-002 Aux-
iliary shaft
When used with the parts
from Press tool upper arm
this tool is called Pull tool,
shaft.
The only difference is that the
press bushing is replaced by
the support bushing.
Loctite 243
Molycote 1000
Content is defined in section
Standard tools on page 383.
These procedures include
references to the tools re-
quired.
Reference calibration
358.
Product manual - IRB 460
3HAC039842-001 Revision: P