4 Repair
4.4.7. Measuring the play, axis 6
159 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
6. Apply load F in the opposite direction, as
shown in the figure to the right.
xx0300000190
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
7. Remove the load and measure the play by
reading the dial indicator.
The maximum play allowed at the
given distance (B) from the center of
axis 6 is, for robot version
• IRB 4400/45, /60, /L30, /S and
IRB 4450S: 0.15mm
• IRB 4400/L10: 0.2mm.
Action Info/Illustration
Continued
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