Note
Action
See the figure in:
•
Location of wrist unit on
page 263
Not applicable to variant IRB 4600-20/2.50.
Fit
the
o-ring sealing plate
.
5
See the figure in:
•
Location of wrist unit on
page 263
Check the o-ring or sealing. Replace if dam-
aged.
6
Prepare the refitting of the wrist by inserting the
attachment screws and washers in the upper
arm tube.
7
CAUTION
The robot wrist unit weighs 25 kg (IRB 4600 -
60/2.05, - 45/2.05, -40/2.55) and 15 kg (IRB 4600
- 20/2.50).
All lifting accessories used must be sized ac-
cordingly.
8
Carefully put the
wrist unit
in its place on the
upper arm
.
CAUTION
Do not damage the gears.
9
CAUTION
Make sure that the o-ring stays in place on the
wrist unit.
xx1000000223
Adjust the play of the wrist by following these
steps:
•
Fit the
measuring tool
at the rear of the
motor.
•
Push the wrist as shown in the figure to
locate the smallest play in the same way
as for adjustment of motors for axes 4,
5 and 6. See
10
Parts:
•
A: Gears on drive shaft unit,
axes 5-6
•
B: Gears on the wrist
See the figure in
•
Location of wrist unit on
page 263
Tightening torque: 35 Nm.
Secure the wrist unit with its
attachment screws
and
washers
.
11
Continues on next page
Product manual - IRB 4600
269
3HAC033453-001 Revision: Y
© Copyright 2009-2021 ABB. All rights reserved.
4 Repair
4.4.3 Replacing wrist unit
Continued
Summary of Contents for IRB 4600
Page 1: ...ROBOTICS Product manual IRB 4600 ...
Page 8: ...This page is intentionally left blank ...
Page 334: ...This page is intentionally left blank ...
Page 368: ...This page is intentionally left blank ...
Page 376: ...This page is intentionally left blank ...
Page 390: ...This page is intentionally left blank ...
Page 392: ...This page is intentionally left blank ...
Page 398: ......
Page 399: ......