InformationAction
xx0300000188
Attach a weight (m) at a distance (B) from
the wrist flange, in order to avoid the ef-
fects of play on axis 5.
Note
Different weight and distance for the dif-
ferent robot versions, as specified to the
right!
3
Values for robot versions IRB 4400:
• A: Measuring tool, play
• B: 100 mm
• m: 20 kg
Values for robot version IRB 4400/L10:
• A: Measuring tool, play
• B: 140 mm
• m: 10 kg
xx0300000189
Apply load F in one direction.
Note
Different load and distances for the differ-
ent robot versions, as specified to the
right!
4
Values for robot version IRB 4400:
• A: Measuring tool, play
• B: 100 mm
• C: 100 mm
• F: 100 N
Values for robot version IRB 4400/L10:
• A: Measuring tool, play
• B: 100 mm
• C: 150 mm
• F: 40 N
Remove the load and set the dial indicat-
or to zero.
5
Continues on next page
184 Product manual - IRB 4400
3HAC022032-001 Revision: Q
© Copyright 2004-2018 ABB. All rights reserved.
4 Repair
4.4.7 Measuring the play, axis 6
Continued
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