ABB IRB 4400/60 Product Manual page 158

4 Repair
4.3.3 Replacement of complete arm system
Continued
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Refitting, complete arm system
The procedure below details how to refit the complete arm system to the robot.
1
Continues on next page
158
Action
Move the upper arm into a resting position
against the lower arm.
Lock the upper arm in this position with se-
curing slings around the lower and upper arm
(A), as shown in the figure to the right.
Note! If the arms are not properly secured,
the upper arm may move during the lift and
cause a drop of the complete arm system.
Unload the weight of the arm system with
lifting slings and a crane.
Remove the balancing device.
Remove the parallel arm.
Remove the attachment screws and friction
washers, lower arm.
Lift away the complete arm system.
Make sure the upper and lower arm are
properly secured to each other during the lift.
Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply (do not turn off
for Foundry Prime robots!)
to the robot, before entering the robot
working area.
© Copyright 2004-2018 ABB. All rights reserved.
Info/Illustration
xx0300000142
Note! The figure shows the IRB 4400.
Detailed in section Removal, balancing
device on page 200.
Detailed in section Replacement of paral-
lel arm / Replacement of bearing on
page 194.
Shown in the figure Location of complete
arm system on page 156.
Info/Illustration
Product manual - IRB 4400
3HAC022032-001 Revision: Q