ABB IRB 4600 - 20/2.50, Product Manual

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4.7.3 Adjusting the play of axis 4, 5 and 6 motors
Required equipment
Note Equipment
For adjusting the play. Measuring tool
Content is defined in section Standard tools
on page 341 .
Standard toolkit
These procedures include references to the
tools required. Other tools and procedures may be required.
See references to these procedures in the
step-by-step instructions below.
Adjusting the play of axis 4, 5 and 6 motors
Note Action
Fit the measuring tool at the rear of the motor. 1
Adjust the play on the motor by starting with a big play and then
gradually finding the smallest play. Use swift movements in order
to avoid noticing the magnetic field which causes the gears to stick
together. Follow the instructions for current motor: 2
Motor axis 4:
1 Turn the motor shaft six turns and find the smallest play
within this range.
Axis 5 motor:
1 Turn the outgoing shaft for axis 4 in intervals of 90° for one
full turn and find the smallest play for the axis 5 motor
within this range.
2 Turn the axis 5 motor one full turn at a time for a total of
five turns and find the smallest play within this range.
Axis 6 motor:
1 Turn the outgoing shaft for axis 4 in intervals of 90° for one
full turn and find the smallest play for the axis 6 motor
within this area.
2 Turn the axis 5 motor one full turn at a time for a total of
five turns and find the smallest play for axis 6 within this
range.
3 Turn the axis 6 motor one full turn at a time for a total of
three turns and find the smallest play for axis 6 within this
range.
Push or tap the motor in radial direction so that the play becomes
minimal within one motor turn, without the gear "chewing". 3
296 3HAC033453-001 Revision: H
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4 Repair
4.7.3 Adjusting the play of axis 4, 5 and 6 motors