ABB IRB 460 Series Product Manual page 296

4 Repair
4.5.2 Replacing motors, axes 2 and 3
Continued
Removing motors axes 2 and 3
Use this procedure to remove motors axes 2 and 3.
The procedure is the same for both motors.
1
2
3
4
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296
Action
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and
take actions accordingly prior to beginning the
repair procedure.
Run the robot to a position close enough to its
calibration position, to allow the lock screw to
be inserted into the hole for lock screw.
Lock the lower arm by inserting the lock screw
into the hole of the frame.
This is done in order to secure axis 2 from col-
lapsing when the axis 2 motor is being removed.
CAUTION
Tighten by hand!
Run axis 3 to the end position so that it rests
against the mechanical stop. Release the brake
of axis 3 in order to set the weight of axis 3
against the mechanical stop.
This is done in order to secure axis 3 from col-
lapsing when the axis 3 motor is being removed.
© Copyright 2012-2018 ABB. All rights reserved.
Note
Note
xx1000001179
See figure above.
Product manual - IRB 460
3HAC039842-001 Revision: P