NoteAction
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Removing the base
Use this procedure to remove the complete arm system from the base.
NoteAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
1
Jog the robot to:
• Axis 1: 0°
• Axis 2: 0°
• Axis 3: -10°
• Axis 4: 0°
• Axis 5: 0°
• Axis 6: 0°
2
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
to the robot, before entering the robot
working area.
3
CAUTION
Always cut the paint with a knife and grind
the paint edge when disassembling parts.
See Cut the paint or surface on the robot
before replacing parts on page 201.
4
How to drain oil is detailed in section
• Changing the oil, axis 1 gearbox on
floor mounted robots on page 153
Drain the axis-1 gearbox.
Note
Draining is time-consuming.
Elapsed time varies depending on the tem-
perature of the oil.
5
How to remove the cable harness in base
and frame is detailed in sections:
• Removing cable harness in base
on page 207
• Removing cable harness in frame
on page 212
• Removing cable harness in lower
arm and armhouse on page 214
Remove the cable harness in the base, the
frame and the lower arm of the robot.
Tip
Wrap up the cabling against the frame to
keep it undamaged during the remaining
work.
6
Continues on next page
Product manual - IRB 4600 Foundry Prime 259
3HAC040585-001 Revision: M
© Copyright 2013-2018 ABB. All rights reserved.
4 Repair
4.3.6 Replacing the base
Continued
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