NoteAction
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in Reference calibration
routine on page 365.If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Illustration of robot put down on its side
The robot is put down on its side for a safe removal of the axis-1 gearbox. Prepare
an area on the floor with cardboard, plastic foam or similar and prepare higher
support for the wrist.
Make sure the cabling brackets on the lower arm are unfastened and moved out
of the way so that the cabling is not getting squeezed.
xx1800000593
Removing gearbox axis 1
Use this procedure to remove the gearbox.
NoteAction
Decide which calibration routine to use, and
take actions accordingly prior to beginning
the repair procedure.
1
How to drain the oil from the gearbox is
described in section:
• Changing the oil, axis 1 gearbox
on floor mounted robots on
page 153
Drain the oil from the gearbox.2
Continues on next page
328 Product manual - IRB 4600 Foundry Prime
3HAC040585-001 Revision: M
© Copyright 2013-2018 ABB. All rights reserved.
4 Repair
4.8.1 Replacing gearbox axis 1
Continued
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