Removal, upper arm
The procedure below how to remove the complete upper arm from the robot.
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
CAUTION
The robot upper arm weighs 180 kg.
All lifting accessories used must be sized
accordingly!
2
Move the upper arm to a horizontal position.3
Secure the weight of the upper arm with the
lifting slings and a crane.
4
Detailed in section Removal, tie rod on
page 191
Remove the tie rod.5
Shown in the figure Location of upper arm
on page 161
Loosen the connectors of motors, axes 4, 5
and 6.
6
Shown in the figure Location of upper arm
on page 161
Remove the connection box, upper arm from
the motors.
7
Shown in the figure Location of upper arm
on page 161
Remove the calibration plate, axis 3.8
Shown in the figure Location of upper arm
on page 161
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.
9
Shown in the figure Location of upper arm
on page 161
Undo the KM nuts.10
Shown in the figure Location of upper arm
on page 161
Remove the screws.11
Art.no. is specified in Required equipment
on page 162
Pull out the shaft with the dismounting tool.
Mark the shafts (left and right)!
12
Shown in the figure Location of upper arm
on page 161
Remove the sealings and bearings, if dam-
aged.
13
Remove the upper arm from the manipulator.14
Continues on next page
Product manual - IRB 4400 163
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.1 Replacement of complete upper arm
Continued
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