4.7.6 Adjustments and measurements4.7.6.1 Measuring the gear play, axis 5GeneralAfter reassembly due to repair work or any other reason, the gear play must bechecked to ensure the repetition accuracy of the robot positioning. The procedurefor axis 5 is detailed below.Certain measurement tools must be fashioned to enable measuring. The dimensionsof these are specified.Required equipmentNoteArt no.Equipment, etc.Content is defined in section Standardtools on page 215.3HAC020812-001Standard toolkitFor adjusting the gear play, motor/pinion3HAC 9037-1ArmMeasuring accuracy 0.01mmMeasurement dial withmagnetic base24 VDC, max. 1.5 APower supplyFor releasing the brakesThese procedures include references tothe tools required.Other tools and proceduresmay be required. See refer-ences to these proceduresin the step-by-step instruc-tions below.WARNINGPlease observe the following before doing any repair work on the manipulator:• Motors and gears are HOT after running the robot! Touching the motors andgears may result in burns!• Turn off all electric power, hydraulic, and pneumatic pressure supplies tothe robot!• Take any necessary measures to ensure that the manipulator does notcollapse as parts are removed, for example secure the lower arm with fixturesif removing motor, axis 2.MeasurementThe procedure below details how to measure the gear play for axis 5.NoteActionManually, turn axis 4 90°.1Continues on next page182 3HAC027400-001 Revision: K© Copyright 2004-2013 ABB. All rights reserved.4 Repair4.7.6.1 Measuring the gear play, axis 5
