ABB IRB 460 Series Product Manual page 295

Equipment, etc.
Grease
Guide pins
Lifting accessory, motor
axes 2-3
Lock screw
Bits extension
Power supply
Rotation tool
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Circuit diagram
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
Product manual - IRB 460
3HAC039842-001 Revision: P
Art. no.
3HAB3537-1
3HAC13120-2
3HAC14586-1
-
3HAC023760-001
-
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.
4.5.2 Replacing motors, axes 2 and 3
Note
For lubricating the o-ring.
M10x150
For guiding the motor.
Guide pins are to be used in pairs!
M16x90
For securing the lower arm.
Used to reach the attachment
screws for the motor.
24 VDC, 1.5 A
For releasing the brakes.
Used to rotate the motor pinion
when mating it to the gear, when
brakes are released with 24 VDC
power supply.
Content is defined in section
Standard tools on page
These procedures include refer-
ences to the tools required.
See chapter Circuit diagrams on
page 391.
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 358.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Continues on next page
4 Repair
Continued
383.
295