2 Installation and commissioning
2.4.3. Installation of additional mechanical stop on axis 2
3HAC023637-001 Revision: B72
3. Make sure that the stop is in contact with the
lower boss on the gearbox, as the arrow shows in
the figure to the right.
xx0400001292
Note! It is important that the
mechanical stop is fitted in contact
with the lower boss on the gearbox!
4. Tighten the attachment bolts. 2 pcs; M8 x 35, tightening torque: 25
Nm.
5. Fit the damper to the mechanical stop, with its
attachment screw and washer. Tighten the screw.
Shown in the figure Illustration,
mechanical stop, axis 2 on page 71.
6. 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.
7.
WARNING!
If the mechanical stop is deformed after a hard
collision, it must be replaced!
Action Note/Illustration
Continued
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