NoteArt. no.Spare part no.Equipment, etc.
Color: ABB Orange3HAC021962-001Motor unit, axis 6
Yaskawa(IRB 4400/L10)
Includes pinion
Color: Graphite White3HAC021962-002
Yaskawa
Includes pinion
21522012-426O-ring
3 pcs3HAB3676-1Gasket
Between the motors and
the connection box.
Replace if damaged.
Content is defined in sec-
tion Standard tools on
page 291.
3HAC17594-1Standard toolkit
3HAB1409-1Measuring tool
24VDC, 1.5APower supply
3 pcs, used to release the
brakes in the motors for
axes 4, 5 and 6.
These procedures include
references to the tools re-
quired.
Other tools and proced-
ures may be required. See
references to these proced-
ures in the step-by-step
instructions below.
See chapter Circuit dia-
gram on page 297.
Circuit diagram
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.
Refitting, motor axis 6
The procedure below details how to refit the axis 6 motor.
InformationAction
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
244 Product manual - IRB 4400
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.8 Refitting of motor, axis 6
Continued
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