Measuring The Play, Axis 5 - ABB IRB 4400 - 45 Product Manual

4 Repair

4.4.6. Measuring the play, axis 5

4.4.6. Measuring the play, axis 5
General
After reassembly due to repair work or any other reason, the play in axis 5 and 6 must be
checked to ensure the repetition accuracy of the robot positioning. The procedure for axis 5
is detailed below.
Required equipment
Equipment, etc.
Standard toolkit
Measuring tool, play
(IRB 4400/45, /60, /L30, /S
and IRB 4450S)
Measuring tool, play
(IRB 4400/L10)
Other tools and procedures
may be required. See
references to these
procedures in the step-by-
step instructions below.
Measurement, axis 5
The procedure below details how to measure the play of axis 5.
Notice that the measuring tool and measuring values differ depending on robot version!
154
Spare part
no.
Action
1.
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the
air pressure to motors and SMB.
2. Move the robot to calibration position and
turn the axis 4 90°.
3. Fit the measuring tool, play to the turning
disk.
Art. no. Note
3HAC 17594-1 The contents are defined in
section Standard toolkit on
page 264.
3HAB 1611-6
3HAB 6337-1
These procedures include
references to the tools
required.
Info/Illustration
Art. no. is specified in
equipment on page
Continues on next page
3HAC022032-001 Revision: E
Required
154.