2 Installation and commissioning
2.4.3. Mechanically restricting the working range of axis 2
71 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Working ranges
The working range of axis 2 can be restricted according to the table below. The table applies
to all robot versions except IRB 4400/FS.
Note! Initial position for the IRB 4450S is +48°
• Each damper is fitted with: 2 attachment screws and 2 hexagon nuts.
• Each spacer is fitted with: 1 attachment screw and 1 hexagon nut.
Fitting, mechancial stop axis 2
The procedure below details how to fit the additional mechanical stop to the lower arm and
the gearbox unit.
Mounting instructions are also supplied with the kit.
F Damper
G Attachment screw, damper (+nut)
Working range Damper, qty Spacer, qty
+95° / -70° - -
+95° / -40° - 2
+95° / -10° 2 2
+65° / -70° 2 -
+65° / -40° 2 2
+65° / -10° 4 2
+35° / -70° 4 -
+35° / -40° 4 2
+35° / -10° 6 2
+5° / -70° (not applicable on IRB 4400/S) 6 -
+5° / -40° (not applicable on IRB 4400/S) 6 2
+5° / -10° (not applicable on IRB 4400/S) 8 2
Action Info/Illustration
1. Determine the working range restriction. See Working ranges on
page 71.
2. Fit both the spacers to either side of the gearbox unit,
with the attachment screws and nuts, spacer.
Shown in the figure
Additional stops on page 70.
Art. no. is specified in
Required equipment on
page 69.
Attachment screw: 1 pc/
spacer, M16x70. Tightening
torque: 156 Nm.
Continued
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