4 Repair
4.4.1. Replacement of complete upper arm
135 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Refitting, upper arm
The procedure below details how to refit the complete upper arm to the robot.
Note! The following procedure also applies to the IRB 4450S.
3. Move the upper arm to a horizontal position.
4. Secure the weight of the upper arm with the lifting
slings and a crane.
5. Remove the tie rod. Detailed in section Removal,
tie rod on page 165
6. Loosen the connectors of motors, axes 4, 5 and 6. Shown in the figure Location
of upper arm on page 133
7. Remove the connection box, upper arm from the
motors.
Shown in the figure Location
of upper arm on page 133
8. Remove the calibration plate, axis 3. Shown in the figure Location
of upper arm on page 133
9. Remove the VK covers on both sides of the upper
arm.
Be careful with the bearing beneath the cover! Make
a hole in the outer edge of the cover and bend it away.
Shown in the figure Location
of upper arm on page 133
10. Undo the KM nuts. Shown in the figure Location
of upper arm on page 133
11. Remove the screws. Shown in the figure Location
of upper arm on page 133
12. Pull out the shaft with the dismounting tool.
Mark the shafts (left and right)!
Art.no. is specified in
Required equipment on
page 134
13. Remove the sealings and bearings, if damaged. Shown in the figure Location
of upper arm on page 133
14. Remove the upper arm from the manipulator.
Action Info/Illustration
Action Info/Illustration
1.
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2.
The complete arm system weighs 232 kg! All
lifting equipment used must be sized accordingly!
3. Fit the sealings and the outer ring of the bearings
in the upper arm, if removed.
The bearing must be completely filled with
grease.
Shown in the figure Location of
upper arm on page 133.
Part no. is specified in Required
equipment on page 134.
Continued
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