ABB Robotics IRB 4600 Manual page 250

4 Repair
4.4.1 Replacing the complete upper arm
Continued
Removing the complete upper arm
Use this procedure to remove the complete upper arm. This procedure can be
done without draining the axis 3 gearbox.
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2
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250
Action
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.
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 the position shown in the
figure.
The robot must be floor mounted and the
upper arm must be horizontally positioned.
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the robot
working area.
CAUTION
The weight of the complete upper arm (in-
cluding the wrist) is 140 kg
All lifting accessories used must be sized
accordingly.
© Copyright 2009-2021 ABB. All rights reserved.
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 349.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Note
xx0800000336
Product manual - IRB 4600
3HAC033453-001 Revision: Y