ABB IRB 140 Product Manual page 183

2
3
4
5
6
7
3HAC027400-001 Revision: K
Action
Fit the dial fitting arm and dial
to the manipulator turning disk
as shown in the figure.
Apply the 40 N load as shown.
Remove the load and read
Value 1.
Apply 40 N load as shown.
Remove the load and read
Value 2.
Calculate the gear play value.
Determine whether or not the
value is OK.
© Copyright 2004-2013 ABB. All rights reserved.
4.7.6.1 Measuring the gear play, axis 5
Note
xx0200000457
xx0200000458
Gear play value = value 1 - value 2
OK < 0.18 mm (4.1 arc minutes)
4 Repair
Continued
183