ABB Robotics IRB 6790 - Mechanically Restricting the Working Range of Axis 1

2.6.2 Mechanically restricting the working range of axis 1
General
The working range of axis 1 is limited by fixed mechanical stops and adjustment
of the system parameter configuration. The working range can be reduced by
adding additional mechanical stops giving 7.5 or 15 graduation, between 22.5°
and 135° in both directions.
Mechanical stops, axis 1
The illustration shows the mounting position of the stop pin and one of the additional
mechanical stops available for axis 1.
A
B
C
B
xx1300001971
Attachment screws M12x70 quality 12.9 Gleitmo 603 (2 pcs per additional
mechanical stop)
A
When the robot is used in a corrosive environment, the securing screws and
washers must be of stainless steel.
Movable mechanical stopB
Mechanical stop pin axis-1C
Continues on next page
90 Product manual - IRB 6790
3HAC063331-001 Revision: B
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2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1