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Product manual - IRB 4400
3HAC022032-001 Revision: Q
Action
Tighten the KM nut...
•
on the left side, with torque 95 Nm in
order to center the upper arm
•
on the right side first with 105 Nm.
Then unscrew the KM nut and re-
tighten it with torque 95 Nm.
Note! This procedure must be performed
within 10 minutes, before the Loctite begins
to harden.
Fit new VK covers.
Note! If the covers have no grooves for
venting, the air must be evacuated by using
the de-air tool (A). Also use a clamp as an
aid in positioning the covers tilted, to avoid
overpressure.
Refit the tie rod.
Refit the calibration plate, axis 3.
Refit the connection box.
Reconnect the connectors to motors, axes
4, 5 and 6.
Recalibrate the robot!
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section
may cause injury or damage on page
© Copyright 2004-2018 ABB. All rights reserved.
4.4.1 Replacement of complete upper arm
Info/Illustration
Part no. is specified in
ment on page
Shown in the figure
on page
161.
xx0300000134
•
A: De-air tool, used if the VK-cover
has no grooves for venting.
Detailed in section
plete upper arm on page
Shown in the figure
on page
161.
Shown in the figure
on page
161.
Shown in the figure
on page
161.
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
General calibration information is included
in section
First test run
27.
4 Repair
Continued
Required equip-
162.
Location of upper arm
Replacement of com-
161.
Location of upper arm
Location of upper arm
Location of upper arm
Calibration on page
263.
165
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