NoteArt. no.Spare part no.Equipment, etc.
Art. no. is specified 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.
Replacement, arm house unit
The procedure below details how to replace the arm house unit.
CAUTION
The complete arm house unit weighs 152 kg! All lifting equipment used must be
dimensioned accordingly!
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
Detailed in section Replacement of arm
house unit, axis 4 on page 170.
Remove the wrist unit.2
Detailed in section Removal of motor,
axes 4, 5 and 6 on page 233.
Remove the motors for axes 4, 5 and 6.3
Detailed in section Replacement of arm
house unit, axis 4 on page 170.
Remove the arm house unit.4
Part no. is specified in Required equip-
ment on page 170.
Fit the new arm house unit.5
Detailed in section Replacement of wrist
unit on page 166.
Refit the wrist unit.6
Detailed in sections
• Refitting of motor, axis 4 on
page 235
• Refitting of motor, axis 5 on
page 239
• Refitting of motor, axis 6 on
page 243
Refit the motors for axes 4, 5 and 6.7
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
Recalibrate the robot!8
General calibration information is included
in section Calibration on page 263.
Continues on next page
Product manual - IRB 4400 171
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.3 Replacement of arm house unit, axis 4
Continued
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