4.4.3 Replacement of complete upper arm
Location of upper arm
The upper arm is located on top of the robot as shown in (A) and (B) the figure
below. The complete upper arm includes the wrist unit.
xx0200000409
Wrist axis 5-6A
Upper arm axis 3-4B
Lower arm axis 2C
Frame axis 1D
BaseE
Continues on next page
Product manual - IRB 2400 141
3HAC022031-001 Revision: P
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4 Repair
4.4.3 Replacement of complete upper arm
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