ABB Robotics IRB 4600 Manual page 279

D
E
F
G
H
J
Required equipment
Equipment
Lower arm
Lifting eye
Standard toolkit
Other tools and procedures may be re-
quired. See references to these procedures
in the step-by-step instructions below.
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
Washer (19 pcs)
Attachment screws M8x40 quality Steel 12.9 Gleitmo (19 pcs)
Frame
Axis-2 gearbox
Washer (18 pcs)
Attachment screws M12x50 quality Steel 12.9 Gleitmo (18 pcs)
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.
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.
© Copyright 2009-2021 ABB. All rights reserved.
4.5.1 Replacing the lower arm
Note
For spare parts no. see Spare parts - Lower
arm and motors in Product manual, spare
parts - IRB 2600.
Valid for Other design than Type C and Type
D:
M8
Valid for Type C and Type D:
M10
Content is defined in section
on page 385.
These procedures include references to the
tools required.
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.
Continues on next page
4 Repair
Continued
Standard tools
279