ABB IRB 4400 - 45 Product Manual page 150

4 Repair
4.4.4. Replacement of mechanical stop, axis 4
Continued
If the mechanical stop has been deformed after a hard collision, it must be replaced!
When the damper is removed from axis 4, the axis does not have a mechanical stop! If the
robot is provided with cabling on the upper arm, the cabling can be damaged when the
function "Resetting the work area for an axis" is used, or if the robot is jogged uncalibrated.
Removal, mechanical stop
The procedure below details how to remove the axis 4 mechanical stop from the robot.
Refitting, mechanical stop
The procedure below details how to refit the axis 4 mechanical stop to the robot.
148
Action
1.
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Remove the mechanical stop by removing its
attachment screws.
3. Rotate axis 4 so that the damper is visible. Remove
the damper.
Action
1.
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Fit the damper to the axis 4.
3. Apply flange sealing to the stop.
Info/Illustration
Shown in the figure Location
of mechanical stop on page
147.
Shown in the figure Location
of mechanical stop on page
147.
Note/Illustration
Shown in the figure Location
of mechanical stop on page
147.
Part no. is specified in
Required equipment on
page 147.
Art. no. is specified in
Required equipment on
page 147.
Continues on next page
3HAC022032-001 Revision: E