Checking For Play In Gearboxes And Wrist - ABB IRB 1400 Product Manual

4 Repair

4.1.7 Checking for play in gearboxes and wrist

4.1.7 Checking for play in gearboxes and wrist
When checking for play in gearboxes the brakes must be disengaged.
When trying to move an arm manually when the brakes are engaged, some play can be felt.
The play that can be felt is between the brake disk and the motor shaft, not in the gearbox
itself. This is because the rotating brake disk is connected to the motor shaft by splines. This
is why the brakes must be disengaged before testing for play in the gearboxes and wrist. The
brakes are disengaged by pressing the enable button on the teach pendant.
The play in the brake disk does not affect the robot motion or accuracy.
66 3HAC021111-001 Revision: B