ABB IRB 4400 - 45 Product Manual page 173

3HAC022032-001 Revision: E
4.5.3. Replacement of parallel arm / Replacement of bearing
Action
5. Refit the washer and the 10 attachment
screws that hold the parallel arm to the
gearbox unit.
6. Move the upper arm to a horizontal
position with a crane (if not already
positioned horizontal) and refit the tie
rod.
7. Reposition the cabling and tighten the
cable attachment screws.
8. Recalibrate the robot!
9.
Make sure all safety requirements are
met when performing the first test run.
These are further detailed in section
DANGER - First test run may cause
injury or damage! on page
Info/Illustration
10 pcs. M16x80, 12.9 quality UNBRAKO.
Tightening torque: 260.
Reused screws may be used, providing
they are lubricated as detailed in section
Screw Joints in the Product manual,
reference information, before fitting.
Detailed in section
page 166
xx0300000127
Calibration is detailed in a separate
calibration manual, enclosed with the
calibration tools.
General calibration information is
included in section
on page 235.
33.
4 Repair
Continued
Refitting, tie rod on
Calibration information
171