4 Repair
4.4.7. Measuring the play, axis 6
3HAC022032-001 Revision: E158
© Copyright 2004-2008 ABB. All rights reserved.
3. Attach a weight (m) at a distance (B) from
the wrist flange, in order to avoid the effects
of play on axis 5.
Note! Different weight and distance for the
different robot versions, as specified to the
right!
xx0300000188
Values for robot version IRB 4400/
45, /60, /L30, /S and IRB 4450S:
• A: Measuring tool, play
• B: 100mm
• m: 20 kg
Values for robot version IRB 4400/
L10:
• A: Measuring tool, play
• B: 140mm
• m: 10 kg
4. Apply load F in one direction.
Note! Different load and distances for the
different robot versions, as specified to the
right!
xx0300000189
Values for robot version IRB 4400/
45, /60, /L30, /S and IRB 4450S:
• A: Measuring tool, play
• B: 100mm
• C: 100mm
• F: 100N
Values for robot version IRB 4400/
L10:
• A: Measuring tool, play
• B: 100mm
• C: 150mm
• F: 40N
5. Remove the load and set the dial indicator
to zero.
Action Info/Illustration
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