ABB IRB 4400/60 Product Manual page 163

Removal, upper arm
The procedure below how to remove the complete upper arm from the robot.
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Product manual - IRB 4400
3HAC022032-001 Revision: Q
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 work-
ing area.
CAUTION
The robot upper arm weighs 180 kg.
All lifting accessories used must be sized
accordingly!
Move the upper arm to a horizontal position.
Secure the weight of the upper arm with the
lifting slings and a crane.
Remove the tie rod.
Loosen the connectors of motors, axes 4, 5
and 6.
Remove the connection box, upper arm from
the motors.
Remove the calibration plate, axis 3.
Remove the VK covers on both sides of the
upper arm.
Be careful with the bearing beneath the cov-
er! Make a hole in the outer edge of the cover
and bend it away.
Undo the KM nuts.
Remove the screws.
Pull out the shaft with the dismounting tool.
Mark the shafts (left and right)!
Remove the sealings and bearings, if dam-
aged.
Remove the upper arm from the manipulator.
© Copyright 2004-2018 ABB. All rights reserved.
4.4.1 Replacement of complete upper arm
Info/Illustration
Detailed in section
page 191
Shown in the figure
on page 161
Shown in the figure
on page 161
Shown in the figure
on page 161
Shown in the figure
on page 161
Shown in the figure
on page 161
Shown in the figure
on page 161
Art.no. is specified in
on page 162
Shown in the figure
on page 161
Continues on next page
4 Repair
Continued
Removal, tie rod on
Location of upper arm
Location of upper arm
Location of upper arm
Location of upper arm
Location of upper arm
Location of upper arm
Required equipment
Location of upper arm
163