Installation and Commissioning On-Site Installation
Product Manual IRB 640 13
2.6 Restricting the working space
When installing the manipulator, make sure that it can move freely within its entire
working space. If there is a risk that it may collide with other objects, its working space
should be limited, both mechanically and using software. Installation of an optional
extra stop for the main axes 1, 2 and 3 is described below.
Limiting the working space using software is described in the chapter System Param-
eters in the User’s Guide.
2.6.1 Axis 1
The range of rotation for axis 1 can be limited mechanically by fitting extra mechanical
stop arms.
Instructions for doing this are supplied with the kit.
IMPORTANT! The mechanical stop pin and the extra moveable mechanical stop
arm for axis 1 must absolutely be replaced after a hard collision, if the pin or arm
has been deformed.
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