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4 Repair
4.4.2 Replacing complete tubular shaft unit
Continued
8
9
10
11
12
13
14
15
262
Action
Secure the tubular shaft unit with its attach-
ment screws.
Refit motors axes 4, 5 and 6.
Perform a leak-down test.
Refit the bracket securing the cable package
to the tubular shaft unit, with its attachment
screws.
If the wrist unit has been removed from the
tubular shaft unit, refit it now.
Refill gearbox axis 4 with oil.
Recalibrate the robot.
DANGER
Make sure all safety requirements are met
when performing the first test run.
© Copyright 2009-2021 ABB. All rights reserved.
Note
See the figure in:
•
Location of tubular shaft unit on
page 257
Tightening torque: 22 Nm
How to refit motors is described in sec-
tion:
•
Refitting motors on page 295
See
Performing a leak-down test on
page
188.
xx0800000335
Parts:
•
A: Tubular shaft unit
•
B: Attachment screws M6x16 qual-
ity 8.8-A2F (2 pcs)
•
C: Bracket
How to refit the wrist unit is detailed in
section:
•
Refitting of wrist unit on page 266
How to refill oil in gearbox is described in
section:
•
Changing the oil, axis-4 gearbox
on page 169
Pendulum Calibration is described in Op-
erating manual - Calibration Pendulum,
enclosed with the calibration tools.
Axis Calibration is described in
with Axis Calibration method on page
General calibration information is included
in section
Calibration on page
Product manual - IRB 4600
3HAC033453-001 Revision: Y
Calibrating
348.
335.
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