ABB IRB 4400 - 45 Product Manual page 134

4 Repair
4.3.3. Replacement of complete arm system
Continued
132
Action
5. Secure the arm system to the gearbox axis 2
with the attachment screws and friction
washers.
Make sure both V-rings are seated properly!
6. Grease the bearing seating of the parallel arm
in the lower arm, to prevent clicking during
operation.
7. Refit the parallel arm.
8. Refit the balancing device.
9. Move the upper arm to a horizontal position.
10. Refit the tie rod.
11. Refit the cabling to the upper arm.
12. Recalibrate the robot!
13.
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
run may cause injury or damage! on page
Info/Illustration
10 pcs, M16x55. Tightening
torque: 260 Nm.
Shown in the figure
complete arm system on page 128
Detailed in section
parallel arm/bearing on page 170
Detailed in section
balancing device on page 177
Detailed in section
on page 166
Detailed in section
cabling axes 4-6 on page 125
Calibration is detailed in a separate
calibration manual, enclosed with
the calibration tools.
General calibration information is
included in section
information on page
DANGER - First test
33.
Location of
Refitting,
Refitting of
Refitting, tie rod
Refitting,
Calibration
235.
3HAC022032-001 Revision: E