ABB IRB 4600 - 40/2.55 Product Manual

Contents

ABB IRB 4600 - 40/2.55 Product Manual Manual pdf 7 page image

2514.4.2 Replacing complete tubular shaft unit .........................................................2574.4.3 Replacing wrist unit .................................................................................2624.4.4 Measuring the play, axis 5 ........................................................................2654.4.5 Measuring the play, axis 6 .........................................................................2684.5 Lower arm .......................................................................................................2684.5.1 Replacing the lower arm ...........................................................................2754.6 Frame and base ................................................................................................2754.6.1 Replacing stop pin axis 1 ..........................................................................2784.7 Motors ............................................................................................................2784.7.1 Removing motors ....................................................................................2864.7.2 Refitting motors ......................................................................................2964.7.3 Adjusting the play of axis 4, 5 and 6 motors .................................................2974.8 Gearboxes .......................................................................................................2974.8.1 Replacing gearbox axis 1 ..........................................................................3034.8.2 Replacing gearbox axis 2 ..........................................................................3114.8.3 Replacing gearbox axis 3 ..........................................................................3195 Calibration3195.1 Introduction .....................................................................................................3205.2 Calibration methods ...........................................................................................3225.3 Calibration scale and correct axis position .............................................................3255.4 Calibration movement directions for all axes ..........................................................3265.5 Updating revolution counters ...............................................................................3285.6 Checking the calibration position ..........................................................................3296 Decommissioning3296.1 Introduction ......................................................................................................3306.2 Environmental information ..................................................................................3317 Robot description3317.1 Type C of IRB 4600 ............................................................................................3338 Reference information3338.1 Introduction ......................................................................................................3348.2 Applicable safety standards ................................................................................3368.3 Unit conversion .................................................................................................3378.4 Screw joints ....................................................................................................3408.5 Weight specifications .........................................................................................3418.6 Standard tools ..................................................................................................3428.7 Special tools ....................................................................................................3448.8 Lifting accessories and lifting instructions ..............................................................3459 Spare part list3459.1 Rebuilding parts ................................................................................................3479.2 Base cover assembly .........................................................................................3489.3 Base and frame unit ...........................................................................................3509.4 Lower arm and frame .........................................................................................3529.5 Upper arm IRB 4600-60/2.05, -40/2.05-40/2.50, -20/2.55 ............................................3589.6 Wrist unit (60 kg/45 kg/20 kg) ..............................................................................3619.7 Electrical connections ........................................................................................3639.8 Gearboxes .......................................................................................................3659.9 Motors ............................................................................................................3679.10 Labels .............................................................................................................3689.11 Options ...........................................................................................................36910 Circuit diagram36910.1 About circuit diagrams .......................................................................................3HAC033453-001 Revision: H 7© Copyright 2009-2013 ABB. 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