4 Repair
4.4.1. Replacement of complete upper arm
133 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
4.4 Upper arm
4.4.1. Replacement of complete upper arm
Location of upper arm
The complete upper arm includes the wrist unit and is located as shown in the figure below.
(The figure shows the IRB 4400.)
A more detailed view of the component and its position may be found in chapter Foldouts in
the Product manual, reference information.
xx0300000129
A Upper arm
B Connectors of motors, axes 4, 5 and 6
C Connection box, upper arm
D Calibration plate, axis 3
E VK cover
F KM nut
G Screw
H Bearing
I Sealing ring
J Shaft end
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