Measuring The Gear Play, Axis 6 - ABB IRB 140 type C Product Manual

4.6.6.2. Measuring the gear play, axis 6

General
After reassembly due to repair work or any other reason, the gear play must be checked to
ensure the repetition accuracy of the robot positioning. The procedure for axis 6 is detailed
below.
Certain measurement tools must be fashioned to enable measuring. The dimensions of these
are specified.
Required equipment
Equipment, etc.
Standard toolkit
Arm
Measurement dial with
magnetic base
Power supply
Other tools and
procedures may be
required. See references
to these procedures in the
step-by-step instructions
below.
WARNING!
Please observe the following before commencing any repair work on the manipulator:
3HAC027400-001 Revision: C
Art no.
3HAC020812-001
3HAC 9037-1
• Motors and gears are HOT after running the robot! Touching the motors and gears may
result in burns!
• Turn off all electric power, hydraulic and pneumatic pressure supplies to the robot!
•
Take any necessary measures to ensure that the manipulator does not collapse as parts
are removed, e.g. secure the lower arm with fixtures if removing motor, axis 2.
4.6.6.2. Measuring the gear play, axis 6
Note
The contents are defined in section
Standard toolkit on page
the Product manual.
For adjusting the gear play, motor/pinion
Accuracy 0,01 mm
24 VDC, max. 1,5 A
For releasing the brakes
These procedures include references to
the tools required.
Continues on next page
4 Repair
182, in part 2 of
153