NoteArt. no.Spare part no.Equipment, etc.
These procedures include
references to the tools re-
quired.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
See chapter Circuit dia-
gram on page 297.
Circuit diagram
General calibration inform-
ation is included in section
Calibration on page 263.
Calibration Pendulum In-
struction
CAUTION
Always cut the paint with a knife and grind the paint edge when disassembling
parts. See Cut the paint or surface on the robot before replacing parts on page 140.
Removal, cabling axes 1-3
The procedure below details how to remove the cable harness from the axes 1-3.
Info/IllustrationAction
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.
1
Shown in the figure Location
of cable harness, axes 1-3 on
page 144.
Remove the rear cover plate.2
Removal detailed in section
Removal, serial measurement
unit on page 208.
Remove the serial measurement unit.3
Shown in the figure Location
of cable harness, axes 1-3 on
page 144.
Loosen the connectors R1.MP1, R2.FB1-3, R2.BU,
R2.BU1-3. Also loosen the earth connections.
4
Cut all the ties around bundle.5
Remove the cable bracket inside the base.6
Shown in the figure Location
of cable harness, view X-X on
page 145.
Remove the cable guides and the protection plate in the
middle of axis 1.
7
Remove the covers from the connections boxes for the
motors in axes 1-2-3.
8
Shown in the figure Location
of cable harness, view X-X on
page 145.
Loosen all the connectors to the motors of axes 1-2-3.9
Remove the connection boxes from the motors 1-2-3.10
Continues on next page
146 Product manual - IRB 4400
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.3.1 Replacement of cable harness, axes 1-3
Continued
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