ABB Robotics IRB 6790 - Restricting the Working Range; Axes with Restricted Working Range

2.6 Restricting the working range
2.6.1 Axes with restricted working range
General
When installing the robot, make sure that it can move freely within its entire working
space. If there is a risk that it may collide with other objects, its working space
should be limited.
The working range of the following axes may be restricted:
• Axis 1, hardware (mechanical stop) and software.
• Axis 2, software.
• Axis 3, software.
This section describes how to install hardware that restricts the working range.
Note
Adjustments must also be made in the robot configuration software (system
parameters). References to relevant manuals are included in the installation
procedures.
Product manual - IRB 6790 89
3HAC063331-001 Revision: B
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2 Installation and commissioning
2.6.1 Axes with restricted working range