4.4 Upper arm
4.4.1 Replacement of complete upper arm
Location of upper arm
The complete upper arm includes the wrist unit and is located as shown in the
figure below. (The figure shows the IRB 4400.)
A more detailed view of the component and its position may be found in chapter
Exploded views, in Product manual, spare parts - IRB 4400.
xx0300000129
Upper armA
Connectors of motors, axes 4, 5 and 6B
Connection box, upper armC
Calibration plate, axis 3D
VK coverE
KM nutF
ScrewG
BearingH
Sealing ringI
Shaft endJ
Continues on next page
Product manual - IRB 4400 161
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.1 Replacement of complete upper arm
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