ABB Robotics IRB 4600 Manual page 298

4 Repair
4.7.2 Refitting motors
Continued
Motor
Axis-6 motor
Position of robot
Use this procedure to place the robot in the position recommended in order to
facilitate replacement of motors.
Filling oil in gearbox
Use this procedure to fill oil in gearbox, if needed.
Continues on next page
298
CAUTION
All lifting equipment must be sized accordingly!
Action
Axis-1, axis-4, axis-5 and axis-6 motors
• Move the robot to a position where the
wrist is pointing to the floor, as shown in
the figure. This will make it possible to
remove the motors without draining the
oil from the gearbox.
Axis-2 motor
• Move the robot to a position where the
lower arm rests firmly on the axis-3
damper. Release the axis-2 brake to be
sure that the lower arm rests in the end
position.
Axis-3 motor
• Move axis-2 to 0° and axis-3 to maximal
+. Release the axis-3 brake to be sure
that the upper arm is completely vertical
and rests against the damper.
Note
Filling oil in the gearbox is only needed when refitting motors axes 2 and 3.
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Weight in kg
8 kg
Information
xx0800000388
xx1100000548
Product manual - IRB 4600
3HAC033453-001 Revision: Y