NoteAction
xx1600000690
Check if there is a parallel pin hole in the upper
arm tube.
The hole is available on robots that are calib-
rated with the Axis Calibration method.
3
xx1600000689
If there is a hole, fit the parallel pin into the
corresponding hole in the wrist (enclosed with
the new wrist spare part).
Note
If the parallel pin is not installed on a robot cal-
ibrated with Axis Calibration, the calibration
result will be affected negatively.
4
Verify that the parallel pin sticks out
from the wrist according to the meas-
urement given below.
IRB 4600 -60/2.05
xx1600000702
Clean all assembly surfaces.5
Remove any painting from the assembly sur-
faces, with a knife.
Continues on next page
Product manual - IRB 4600 Foundry Prime 287
3HAC040585-001 Revision: M
© Copyright 2013-2018 ABB. All rights reserved.
4 Repair
4.4.3 Replacing wrist unit
Continued
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