4.4.5 Measuring the play, axis 6GeneralThis section is only valid for IRB 2600. For IRB 2600ID, see section Measuring theplay, axis 6 (ID upper arm) on page 275.After reassembly due to repair work or any other reason, the play in axis 5 and 6must be checked to ensure the repetition accuracy of the robot positioning. Theprocedure for axis 6 is detailed below.Required equipmentNoteArt. no.EquipmentContent is defined in sec-tion Standard tools onpage 383.-Standard toolkitThese procedures includereferences to the tools re-quired.Other tools and procedures may be required.See references to these procedures in thestep-by-step instructions below.Measurement, axis 6The procedure below details how to measure the play in axis 6.InfoActionDANGERTurn off all:• electric power supply• hydraulic pressure supply• air pressure supplyto the robot, before entering the robotworking area.1Art. no. is specified in Required equipmenton page 270.Fit the measuring tool, play to the turningdisk.2xx0300000188Attach a weight (m) at a distance (B) fromthe wrist flange, in order to avoid the ef-fects of play on axis 5.3Values for robot versions IRB 2600 -20/1.65, -12/1.65, -12/1.85:• A: Measuring tool, play• B: 140 mm• m: 10 kgContinues on next page270 Product manual - IRB 26003HAC035504-001 Revision: G© Copyright 2009-2015 ABB. All rights reserved.4 Repair4.4.5 Measuring the play, axis 6
