ABB Robotics IRB 4600 Manual page 268

4 Repair
4.4.3 Replacing wrist unit
Continued
3
4
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268
Action
If there is a hole, fit the parallel pin into the
corresponding hole in the wrist (enclosed with
the new wrist spare part).
Note
If the parallel pin is not installed on a robot cal-
ibrated with Axis Calibration, the calibration
result will be affected negatively.
Clean all assembly surfaces.
Remove any painting from the assembly sur-
faces with a knife.
© Copyright 2009-2021 ABB. All rights reserved.
Note
xx1600000689
Verify that the parallel pin sticks out
from the wrist according to the meas-
urement given below.
IRB 4600 -60/2.05, -45/2.05, -40/2.55
xx1600000702
IRB 4600 -20/2.50
xx1600000703
Product manual - IRB 4600
3HAC033453-001 Revision: Y
6 ±0,5
0
4 - 0,5