2 Installation and commissioning
2.4.2. Installation of additional mechanical stops on axis 1
693HAC026660-001 Revision: C
© Copyright 2006-2008 ABB. All rights reserved.
Installation of mechanical stop, axis 1
The procedure below details how to install the mechanical stop to axis 1.
Action Note/Illustration
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
2. Place the stop at the base, with the guiding pin in
the casted groove. Turn the stop until the holes align
with the groove.
The stop can be mounted in either direction,
resulting in differences in the working range.
xx0400001288
Also see the figure Illustration,
mechanical stop, axis 1 on page
68.
3. Drill two holes in the casted groove, with guidance
from the circular and the elliptical hole.
Drill the holes through 10.2 mm.
If drilling in a stiffening rib, drill depth must be min.
30 mm.
4. Cut the threads M12.
If cutting in a stiffening rib, thread depth must be
min. 23 mm.
5. Fit the stop to the base without tightening the bolts.
6. Turn axis 1 manually and check the working area
between the stops.
How to release the holding brake
of the axis motor is detailed in
section Manually releasing the
brakes on page 47.
7. Tighten the bolts. 2 pcs/stop: M12 x 40, tightening
torque: 85 Nm.
8. The software working range limitations must be re-
defined to correspond to the changes in the
mechanical limitations of the working range.
The system parameters that must
be changed in RobotWare 5.0
(Upper joint bound and Lower
joint bound) are further detailed in
Technical reference manual -
System parameters.
9.
WARNING!
If the mechanical stop is deformed after a hard
collision, it must be replaced!
Continued
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