4 Repair
4.4.3. Replacement of arm house unit, axis 4
145 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Replacement, arm house unit
The procedure below details how to replace the arm house unit.
Note! The following procedure also applies to the IRB 4450S.
Caution!
The complete arm house unit weighs 152 kg! All lifting equipment used must be dimensioned
accordingly!
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. Remove the wrist unit. Detailed in section Removal
of wrist unit.
3. Remove the motors for axes 4, 5 and 6. Detailed in section Removal
of motor, axes 4, 5 and 6 on
page 204.
4. Remove the arm house unit. Detailed in section Removal
of complete upper arm.
5. Fit the new arm house unit. Part no. is specified in
Required equipment on
page 144.
6. Refit the wrist unit. Detailed in section
Replacement of wrist unit on
page 138.
7. Refit the motors for axes 4, 5 and 6. Detailed in sections
• Refitting of motor,
axis 4 on page 207
• Refitting of motor,
axis 5 on page 210
• Refitting of motor,
axis 6 on page 214
8. Recalibrate the robot! Calibration is detailed in a
separate calibration manual,
enclosed with the calibration
tools.
General calibration
information is included in
section Calibration
information on page 235.
Continued
Continues on next page
To Next Page
Loading...
