2 Installation and commissioning
2.4.5. Unlimited working range
3HAC022032-001 Revision: E76
© Copyright 2004-2008 ABB. All rights reserved.
Removal of mechanical stop, axis 4
The procedure below details how to remove the mechanical stop of axis 4, to enable the
function "Resetting the work area for an axis".
When the damper is removed from axis 4, the axis does not have a mechanical stop! If the
robot is provided with cabling on the upper arm, the cabling can be damaged when the
function “Resetting the work area for an axis” is used, or if the robot is jogged uncalibrated.
Action Info/Illustration
1.
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the air
pressure to motors and SMB.
2. Loosen the attachment screws, mech stop and
remove the mechanical stop, axis 4.
Shown in the figure Location
of mechanical stop, axis 4 on
page 75.
3. Slowly rotate axis 4 until the damper is visible through
the hole.
4. Remove the damper.
5. Refit the mechanical stop to the axis 4 with its
attachment screws.
4 pcs, M8x16. Tightening
torque: 24 Nm.
Continued
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