ABB IRB 140 type C Product Manual page 154

4 Repair
4.6.6.1. Measuring the gear play, axis 5
Continued
Measurement
The procedure below details how to measure the gear play for axis 5.
152
Action
1. Manually, turn axis 4 90°.
2. Fit the dial fitting arm and dial
to the manipulator turning disk
as shown in the figure.
Apply the 40 N load as shown.
3. Remove the load and read
Value 1.
4. Apply 40 N load as shown.
5. Remove the load and read
Value 2.
6. Calculate the gear play value. Gear play value = value 1 - value 2
7. Determine whether or not the
value is OK.
Note
xx0200000457
xx0200000458
OK < 0.18 mm (4.1 arc minutes)
3HAC027400-001 Revision: C