ABB IRB 1660 - Keep X Direction Downwards (Tilted or Wall Mounted Robot)

Keep X direction downwards (tilted or wall mounted robot)
CAUTION
If the robot is wall mounted or mounted in a tilted position, it is important that
the X direction of the base coordinate system points downwards, as shown in
the figure below.
+X
+X
Y
Y
Z
Z
xx1200001354
Negative directions in axis 1 have extra gravity force (tilted or wall mounted robots)
If the robot is wall mounted or mounted in a tilted position, the additional mechanical
stop pin restricts the robot when the axis 1 moves in a positive direction, for example
from 0º and upwards to 90º (b).
The stop pin does not manage the extra gravity force that comes from when axis
1 moves in a negative direction, for example from 180º downwards to 90º (a).
(a)
(a)
(b)
(b)
xx1300000180
The additional stop pin does not manage the extra gravity force in this restricted
working area (for tilted or wall mounted robots).
(a)
The additional stop pin manages to restrict this working area (for tilted or wall
mounted robots).
(b)
Continues on next page
Product manual - IRB 1600/1660 101
3HAC026660-001 Revision: W
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.2 Installation of additional mechanical stops on axis 1
Continued