ABB IRB 140, Product Manual

Page: 205 / 252

4.7.6.2 Measuring the gear play, axis 6
General
After reassembly due to repair work or any other reason, the gear play must be
checked to ensure the repetition accuracy of the robot positioning. The procedure
for axis 6 is detailed below.
Certain measurement tools must be fashioned to enable measuring. The dimensions
of these are specified.
Required equipment
Note Art no. Equipment, etc.
Content is defined in section Standard
tools on page 239 .
3HAC020812-001 Standard toolkit
For adjusting the gear play, motor/pinion 3HAC 9037-1 Arm
Measuring accuracy 0.01 mm Measurement dial with
magnetic base
24 VDC, max. 1.5 A Power supply
For releasing the brakes
These procedures include references to
the tools required. Other tools and proced-
ures may be required. See
references to these proced-
ures in the step-by-step in-
structions below.
WARNING
Please observe the following before doing any repair work on the manipulator:
• Motors and gears are HOT after running the robot! Touching the motors and
gears may result in burns!
• Turn off all electric power, hydraulic, and pneumatic pressure supplies to
the robot!
• Take any necessary measures to ensure that the manipulator does not
collapse as parts are removed, for example secure the lower arm with fixtures
if removing motor, axis 2.
Measurement
The procedure below details how to measure the gear play for axis 6.
Note Action
Manually, turn axis 4 90°. 1
Continues on next page
Product manual - IRB 140 205
3HAC027400-001 Revision: V
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.7.6.2 Measuring the gear play, axis 6