ABB IRB 140 type C Product Manual page 156

4 Repair
4.6.6.2. Measuring the gear play, axis 6
Continued
Measurement
The procedure below details how to measure the gear play for axis 6.
154
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.
7. Determine whether or not the
value is OK.
Note
xx0200000460
xx0200000461
Gear play value = value 1 - value 2
OK < 0.30 mm (10.3 arc minutes)
3HAC027400-001 Revision: C