NoteArt. no.Spare part no.Equipment, etc.
See chapter Circuit dia-
gram on page 297.
Circuit diagram
Calibration is detailed in a
separate calibration
manual enclosed with the
calibration tools.
Calibration Pendulum In-
struction
Art. no. is specified in
section on page ? in part
2 of the Product manual.
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 4-6
The procedure below details how to remove the cable harness from the axes 4-6.
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 work-
ing area.
1
Remove the cover ot the connection box for
motors 4-5-6.
2
Shown in the figure Location of cable
harness, axes 4-6 on page 149
Remove the rear cover plate.3
Detailed in section Removal, serial
measurement unit on page 208
Remove the serial measurement unit.4
Shown in the figure Location of cable
harness, axes 4-6 on page 149
Loosen the connectors R2.MP4-6, R2.FB4-6,
R2.BU4-6, R1.CP/CS. Also loosen the earth
connections.
5
Cut all the straps around the bundle.6
Remove the cable bracket inside the base.7
Shown in the figureLocation of cable har-
ness, view X-X on page 150
Remove the cable guides and the protection
plate in the midle of axis 1.
8
Continues on next page
Product manual - IRB 4400 151
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.3.2 Replacement of cable harness, axes 4-6
Continued
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