DescriptionRevision
The following updates have been made in this revision:
• New WARNING! added in Safety chapter section Work inside the manip-
ulator's working range on page 38.
• New WARNING! added in Safety chapter section WARNING - Safety
risks during work with gearbox lubricants (oil or grease) on page 55.
• Information about the quality and used threadlength for attachment
screws on mounting flange, added in Installation chapter section Fitting
equipment on wrist and mounting flange on page 82.
• The text in the introduction to chapters Installation, Maintenance and
Repair has been updated concerning the robot being connected to earth
when power connected.
• Levelmeter calibration added in sections Calibration methods on page 321
and Calibration equipment, Levelmeter (alternative method) on page 342.
• Section Upper arm IRB 4600-60/2.05, -40/2.05-40/2.50, -20/2.55 on
page 352 in Spare parts updated with Type A spare parts.
• Section Lifting and turning a suspended mounted robot on page 69 added
in Installation chapter.
• Section Installation of Foundry Plus Cable guard (option no. 908-1) on
page 97 added in Installation chapter.
• New DANGER! added in section Manually releasing the brakes on
page 70.
• Restricting working range with software added in section Mechanically
restricting the working range of axis 1 on page 87.
• The sections describing Replacing motors axes 1 through 6 has been
updated. Two new sections Removing motors on page 278 and Refitting
motors on page 286 replaces the older ones.
A
The following updates have been made in this revision:
• Missing text "type A" for armhousing 3HAC034549-005 added in chapter
Spare parts section Upper arm IRB 4600-60/2.05, -40/2.05-40/2.50, -
20/2.55 on page 352.
• Wrist Foundry added in chapter Spare parts, section Wrist unit (60 kg/45
kg/20 kg) on page 358.
• Motors in wrist as rebuilding parts added in section Rebuilding parts on
page 345.
• How to adjust the play on motors axes 4-6 and on wrist added in sections
Replacing motors, axes 4, 5 and 6 and Replacing wrist unit on page 257.
• Correction of required oil level, see Inspecting oil level, axis 1 gearbox
on page 114.
In chapter Safety :
• Updated safety signal graphics for levels Danger and Warning, see
Safety signals in the manual on page 42.
• New safety labels on the manipulators, see Safety symbols on manipu-
lator labels on page 44.
• Revised teminology: robot replaced with manipulator.
B
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3HAC033453-001 Revision: H 11
© Copyright 2009-2013 ABB. All rights reserved.
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