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Equipment
Rotating lifting point
Washer
Roundslings
Screws
Guide pins
Standard toolkit
Other tools and procedures may be re-
quired. See references to these proced-
ures in the step-by-step instructions be-
low.
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 4600
3HAC033453-001 Revision: Y
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.
© Copyright 2009-2021 ABB. All rights reserved.
4.4.1 Replacing the complete upper arm
Note
2 pcs. Dimension: M8.
Example: Gunnebo RLP GrabiQ M8-10.
xx1100000564
Required if the screw in the rotating lifting point
bottoms.
Inner diameter: 12 mm. Outer diameter: min. 23
mm. Thickness: enough to prevent the screw in
the rotating lifting point to bottom.
3 pcs.
Length: 1.5 m.
Lifting capacity: 500 kg.
2 pcs. Used to prevent the roundsling at the wrist
from sliding.
Dimension:
•
M6. Length: 70 mm. Quality: 8.8. (IRB
4600 - 20/2.5)
•
M8. Length: 70 mm. Quality: 8.8. (IRB
4600 - 60/2.05, - 45/2.05, - 40/2.55)
Type C and Type D: M10 (2 pcs)
Other design than Type C and Type D: M8 (2
pcs)
Content is defined in section
page
385.
These procedures include references to the tools
required.
Note
Continues on next page
4 Repair
Continued
Standard tools on
249
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