ABB IRB 4400 - 45 Product Manual page 164

4 Repair
4.5.1. Replacement of lower arm
Continued
Refitting, lower arm
The procedure below deatails how to refit the lower arm to the robot.
162
Action
4. Remove the complete upper arm.
5. Attach a crane to the lower arm and unload
the weight.
6. Remove the balancing device.
7. Remove the parallel arm.
8. Remove the attachment screws and friction
washers, lower arm.
9. Remove the lower arm from the manipula-
tor.
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.
The lower arm weighs 68 kg! All lifting equipment
used must be sized accordingly!
3. Move the damper and the calibration plate from the
old to the new lower arm.
4. Check and grease both V-rings in the frame. Replace
if damaged.
5. Lift the lower arm and lower it into mounting position.
Make sure both V-rings stay seated properly!
6. Refit the lower arm to the gearbox axis 2 with
attachment screws and friction washers, lower arm.
7. Grease the bearing seating of the parallel arm in the
lower arm, to prevent clicking during operation.
8. Refit the parallel arm.
Info/Illustration
Detailed in section Removal of
complete upper arm.
Detailed in section Replacement of
balancing device on page
Detailed in section Replacement of
parallel arm / Replacement of bearing
on page 168.
Shown in the figure Location of lower
arm on page 160.
Info/Illustration
Part no. is specified in
Required equipment on
page 161
Part no. is specified in
Required equipment on
page 161
10 pcs. M16x55. Tightening
torque: 260 Nm.
Shown in the figure
of lower arm on page 160
Detailed in section
parallel arm/bearing on page
170
Continues on next page
3HAC022032-001 Revision: E
172.
Location
Refitting,