Attachment screws and friction washers, lower armB
Calibration plate, axis 2C
DamperD
Parallel armE
V-ring between lower arm and gearbox axis 3F
Required equipment
NoteArt. no.Spare part no.Equipment, etc.
3HAC5955-1Lower arm
(IRB 4400)
2 pcs3HAB3773-11V-ring
On both sides of the lower arm,
in the frame.
Used to grease sealings and
bearings.
3HAB3537-1Grease
Content is defined in section
Standard tools on page 291.
3HAC17594-1Standard toolkit
These procedures include ref-
erences to the tools required.
Other tools and proced-
ures may be required.
See references to these
procedures in the step-
by-step instructions be-
low.
General calibration information
is included in section Calibra-
tion 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.
Removal, lower arm
The procedure below details how to remove the lower 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
working area.
1
Continues on next page
Product manual - IRB 4400 187
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.5.1 Replacement of lower arm
Continued
To Next Page
Loading...
