Info/IllustrationAction
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.
9
Part no. is specified in Required equip-
ment on page 162.
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.
10
Shown in the figure Location of upper arm
on page 161.
xx0300000134
• A: De-air tool, used if the VK-cover
has no grooves for venting.
Detailed in section Replacement of com-
plete upper arm on page 161.
Refit the tie rod.11
Shown in the figure Location of upper arm
on page 161.
Refit the calibration plate, axis 3.12
Shown in the figure Location of upper arm
on page 161.
Refit the connection box.13
Shown in the figure Location of upper arm
on page 161.
Reconnect the connectors to motors, axes
4, 5 and 6.
14
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
Recalibrate the robot!15
General calibration information is included
in section Calibration on page 263.
DANGER
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section First test run
may cause injury or damage on page 27.
16
Product manual - IRB 4400 165
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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