ABB Robotics IRB 4600 Manual page 270

4 Repair
4.4.3 Replacing wrist unit
Continued
12
13
14
15
16
270
Action
Measure the play by moving axes 5 and 6 with
the measuring tool.
Perform a leak-down test.
Refill oil in gearbox axes 5-6.
Re-calibrate the robot.
DANGER
Make sure all safety requirements are met when
performing the first test run.
© Copyright 2009-2021 ABB. All rights reserved.
Note
How to measure the play is described
in sections:
• Measuring the play, axis 5 on
page 271
• Measuring the play, axis 6 on
page 274
See Performing a leak-down test on
page 188.
How to fill oil in gearbox axes 5-6 is
described in section:
• Changing oil, axes-5 and -6
gearboxes on page 173
Pendulum Calibration is described in
Operating manual - Calibration Pendu-
lum, enclosed with the calibration
tools.
Axis Calibration is described in
rating with Axis Calibration method on
page 348.
General calibration information is in-
cluded in section Calibration on
page 335.
Product manual - IRB 4600
3HAC033453-001 Revision: Y
Calib-