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ABB IRB 4600 - 40/2.55 Product Manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. Table Of Contents
  4. Overview of this manual
  5. Product documentation, IRC5
  6. How to read the product manual
  7. Safety
  8. General safety information
  9. Safety in the manipulator system
  10. Safety risks
  11. CAUTION - Hot parts may cause burns
  12. Safety risks related to tools/work pieces
  13. Safety risks related to pneumatic/hydraulic systems
  14. Safety risks with pressure relief valve
  15. Safety risks during operational disturbances
  16. Risks associated with live electric parts
  17. Safety actions
  18. Fire extinguishing
  19. Emergency release of the manipulator's arm
  20. Brake testing
  21. Risk of disabling function "Reduced speed 250 mm/s
  22. Safe use of the FlexPendant
  23. Work inside the manipulator's working range
  24. Signal lamp (optional)
  25. Safety stops
  26. Safety related instructions
  27. Safety symbols on manipulator labels
  28. DANGER - Moving manipulators are potentially lethal
  29. DANGER - First test run may cause injury or damage
  30. WARNING - The brake release buttons may be jammed after service work
  31. DANGER - Make sure that the main power has been switched off
  32. WARNING - The unit is sensitive to ESD
  33. WARNING - Safety risks during handling of batteries
  34. WARNING - Safety risks during work with gearbox lubricants (oil or grease)
  35. Installation and commissioning
  36. Unpacking
  37. Working range and type of motion
  38. Risk of tipping/stability
  39. On-site installation
  40. Lifting and turning a suspended mounted robot
  41. Manually releasing the brakes
  42. Orienting and securing the robot
  43. Setting the system parameters for a suspended robot
  44. Fitting equipment on robot
  45. Loads
  46. Installation of signal lamp (option)
  47. Restricting the working range
  48. Mechanically restricting the working range of axis 1
  49. Installing options
  50. Installation of Foundry Plus Cable guard (option no. 908-1)
  51. Installing an expansion container
  52. Robot in hot environments
  53. Robot in cold environments
  54. Electrical connections
  55. Customer connection on robot
  56. Customer connections on upper arm
  57. Maintenance
  58. Maintenance schedule
  60. Expected component life
  61. Inspection activities
  62. Inspecting the oil level, axis 2 gearbox
  63. Inspecting the oil level, axis 3 gearbox
  64. Inspecting the oil level, axis 4 gearbox
  65. Inspecting oil level, gearbox axes 5 - 6
  66. Inspecting the cable harness
  67. Inspecting information labels
  68. Inspecting the mechanical stop pin, axis 1
  69. Inspecting additional mechanical stops
  70. Inspecting dampers
  71. Inspecting the pressure relief valve
  72. Inspecting Signal lamp (option)
  73. Replacement activities
  74. Changing the oil, axis-1 gearbox on floor mounted robots
  75. Changing the oil, axis-1 gearbox on suspended robots
  76. Changing the oil, axis-2 gearbox
  77. Changing the oil, axis-3 gearbox
  78. Changing the oil, axis-4 gearbox
  79. Changing oil, axes-5 and -6 gearboxes
  80. Replacing SMB battery
  81. Cleaning activities
  82. Repair
  83. General procedures
  84. Mounting instructions for bearings
  85. Mounting instructions for seals
  86. Complete robot
  87. Refitting the complete cable harness
  88. Replacing SMB unit
  89. Replacing the brake release unit
  90. Replacing the base
  91. Upper arm
  92. Replacing complete tubular shaft unit
  93. Replacing wrist unit
  94. Measuring the play, axis 5
  95. Measuring the play, axis 6
  96. Lower arm
  97. Frame and base
  98. Motors
  99. Refitting motors
  100. Adjusting the play of axis 4, 5 and 6 motors
  101. Gearboxes
  102. Replacing gearbox axis 2
  103. Replacing gearbox axis 3
  104. Calibration
  105. Calibration methods
  106. Calibration scale and correct axis position
  107. Calibration movement directions for all axes
  108. Updating revolution counters
  109. Checking the calibration position
  110. Decommissioning
  111. Environmental information
  112. Robot description
  113. Reference information
  114. Applicable safety standards
  115. Unit conversion
  116. Screw joints
  117. Weight specifications
  118. Standard tools
  119. Special tools
  120. Lifting accessories and lifting instructions
  121. Spare part list
  122. Base cover assembly
  123. Base and frame unit
  124. Lower arm and frame
  125. Upper arm IRB 4600-60/2.05, -40/2.05-40/2.50, -20/2.55
  126. Wrist unit (60 kg/45 kg/20 kg)
  130. Labels
  131. Options
  132. Circuit diagram
ABB IRB 4600 - 40/2.55 Product Manual Manual pdf 257 page image
4.4.3 Replacing wrist unitLocation of wrist unitThe wrist unit is located in the upper arm as shown in the figures.IRB 4600 -60/2.05, -45/2.05, -40/2.55xx0800000333Upper armAGearBO-ring sealing plateCWrist unitDSpring washer, conical 8.4x18x2, quality steel-mZn12c (7 pcs)EAttachment screw M8x40, quality steel 12.9 Gleitmo (7 pcs)FContinues on next page3HAC033453-001 Revision: H 257© Copyright 2009-2013 ABB. All rights reserved.4 Repair4.4.3 Replacing wrist unit
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This manual is suitable for:
IRB 4600 - 20/2.50IRB 4600 - 40/2.55IRB 4600 - 45/2.05IRB 4600 - 60/2.05
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