2 Installation and commissioning
2.6.2. Mechanically restricting the working range of axis 1
3HAC022033-001 Revision: K116
© Copyright 2004-2011 ABB. All rights reserved.
Installation, mechanical stops axis 1
Use this procedure to fit mechanical stops to axis 1 of the robot. An assembly drawing is also
enclosed with the product.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Turn off all electric power and hydraulic but
not the air pressure to the gearboxes, motors
and SMB.
2. Fit the additional mechanical stop to the
frame according to the figure Mechanical
stops, axis 1 on page 115.
Tightening torque: 120 Nm.
3. Adjust the software working range limitations
(system parameter configuration) to
correspond to the mechanical limitations.
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus, chapter System
Parameters - topic Manipulator.
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
4.
WARNING!
If the mechanical stop pin is deformed after a
hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
Continued
To Next Page
Loading...
Need help?
General
