Measuring The Play In Axis-5 And Axis-6 - ABB IRB 1410 Product Manual

4 Repair

4.8.5 Measuring the play in axis-5 and axis-6

4.8.5 Measuring the play in axis-5 and axis-6
Axis-5
Axis 4 shall be turned 90o. The maximum accepted play in axis 5 is 4.7 arc. minutes
when loading axis 5 with a moment of 4.8 Nm in one direction, unloading to 0.24
Nm and start measuring the play, loading in the other direction with 4.8 Nm
unloading to 0.24 Nm and reading the play. This correspond to play of 0.27 mm
on a radius of 200 mm when the load is F=40
N and 2 N on radius 120 mm. See illustration.
xx1300002639
Axis-6
The maximum accepted play in axis 6 is 12.8 arc.minutes when loading axis 6 with
a moment of 4.2 Nm in one direction, unloading to 0.2 Nm and start measuring the
play, loading in the other direction with 4.2 Nm unloading to 0.2 Nm and reading
the play.
This correspond to a play of 0.37 mm on a radius of 100 mm when the load is F=42
N and 2 N. See illustration.
xx1300002640
124
120
35
F
200
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Product manual - IRB 1410
3HAC026320-001 Revision: N