ABB IRB 4600 - 60/2.05 - Robot Repair Procedures; 4.1 Introduction to Repair

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 Calibration
3195.1 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 Decommissioning
3296.1 Introduction ......................................................................................................
3306.2 Environmental information ..................................................................................
3317 Robot description
3317.1 Type C of IRB 4600 ............................................................................................
3338 Reference information
3338.1 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 list
3459.1 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 diagram
36910.1 About circuit diagrams .......................................................................................
3HAC033453-001 Revision: H 7
© Copyright 2009-2013 ABB. All rights reserved.
Table of contents