ABB IRB 4400 - 45 Product Manual page 225

3HAC022032-001 Revision: E
Action
7. Refit the base with the attachment screws
and washers, gearbox unit.
8. Refit the bottom plate with its attachment
screws.
9. Strap the gearbox unit as in the removal
instruction
10. Lift the gearbox unit together with the base
and use the hoisting block to tip the
complete assembly backward by 90°, into
normal mounting position.
11. Refit the robot to the foundation.
12. Refit the complete arm system.
13. Refit the parallel arm.
14. Refit the tie rod.
15. Refit the cable harness and serial
measuring board.
16. Recalibrate the robot!
17.
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in section
test run may cause injury or damage! on
page 33.
4.8.1. Replacement of gearbox unit, axes 1-2-3
Info/Illustration
Shown in figure
unit on page 218
14 pcs, M16x80. 12.9 quality
UNBRAKO. Tightening torque: 260
Nm.
Reused screws may be used,
providing they are lubricated as
detailed in Screw joints in the Product
manual, reference information before
fitting.
Shown in the figure
gearbox unit on page 218
See section
page 219
Detailed in section
arm system
Detailed in section
arm/bearing on page 170
Detailed in section
page 166
Detailed in sections
axes 1-3 on page 119
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
4 Repair
Continued
Location of gearbox
Location of
Removal, gearbox unit on
Refitting, complete
Refitting, parallel
Refitting, tie rod on
Refitting, cabling
Calibration
235.
223