Info/IllustrationAction
Part no. is specified in Required equip-
ment on page 195
If the bearing is to be changed:
• Heat the new groove ball bearing
to 170°C.
• Fit the bearing to the parallel arm.
If the old bearing is kept:
• Grease the bearing.
4
Part no. is specified in Required equip-
ment on page 195
Fit the sealing ring to the bearing.5
10 pcs. M16x80, 12.9 quality UNBRAKO.
Tightening torque: 260.
Refit the washer and the 10 attachment
screws that hold the parallel arm to the
gearbox unit.
6
Reused screws may be used, providing
they are lubricated as detailed in section
Screw Joints in the Product manual, ref-
erence information, before fitting.
Detailed in section Refitting, tie rod on
page 192
Move the upper arm to a horizontal pos-
ition with a crane (if not already posi-
tioned horizontal) and refit the tie rod.
7
xx0300000127
Reposition the cabling and tighten the
cable attachment screws.
8
Calibration is detailed in a separate calib-
ration manual enclosed with the calibra-
tion tools.
Recalibrate the robot!9
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 dam-
age on page 27.
10
Product manual - IRB 4400 197
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.5.3 Replacement of parallel arm / Replacement of bearing
Continued
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