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4 Repair
4.4.7. Measuring the play, axis 6
Continued
158
Action
3. Attach a weight (m) at a distance (B) from
the wrist flange, in order to avoid the effects
of play on axis 5.
Note! Different weight and distance for the
different robot versions, as specified to the
right!
4. Apply load F in one direction.
Note! Different load and distances for the
different robot versions, as specified to the
right!
5. Remove the load and set the dial indicator
to zero.
Info/Illustration
xx0300000188
Values for robot version IRB 4400/
45, /60, /L30, /S and IRB 4450S:
•
A: Measuring tool, play
•
B: 100mm
•
m: 20 kg
Values for robot version IRB 4400/
L10:
•
A: Measuring tool, play
•
B: 140mm
•
m: 10 kg
xx0300000189
Values for robot version IRB 4400/
45, /60, /L30, /S and IRB 4450S:
•
A: Measuring tool, play
•
B: 100mm
•
C: 100mm
•
F: 100N
Values for robot version IRB 4400/
L10:
•
A: Measuring tool, play
•
B: 100mm
•
C: 150mm
•
F: 40N
Continues on next page
3HAC022032-001 Revision: E
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