Info/IllustrationAction
10 pcs. M16x55. Tightening
torque: 260 Nm.
Refit the lower arm to the gearbox axis 2 with attach-
ment screws and friction washers, lower arm.
6
Shown in the figure Location
of lower arm on page 186
Grease the bearing seating of the parallel arm in the
lower arm, to prevent clicking during operation.
7
Detailed in section Refitting,
parallel arm/bearing on
page 196
Refit the parallel arm.8
Detailed in section Refitting
of balancing device on
page 203
Refit the balancing device.9
Detailed in section Refitting,
upper arm on page 164
Refit the upper arm.10
Detailed in section Refitting,
cabling axes 4-6 on page 154
Refit the cabling.11
Calibration is detailed in a
separate calibration manual
enclosed with the calibration
tools.
Recalibrate the robot!12
General calibration informa-
tion 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 de-
tailed in the section First test run may cause injury
or damage on page 27.
13
Product manual - IRB 4400 189
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.5.1 Replacement of lower arm
Continued
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