ABB IRB 6620 - 150/2.2 - Page 87

2 Installation and commissioning
2.6.2. Mechanically restricting the working range of axis 1
853HAC027151-001 Revision: B
© Copyright 2006-2008 ABB. All rights reserved.
Required equipment
Installation, mechanical stops axis 1
The procedure below details how to fit the mechanical stops of axis 1 to the robot. An
assembly drawing is also enclosed with the product.
Equipment, etc. Art. no. Note
Movable mechanical stop set, axis 1
(+15°/-7.5°)
3HAC025204-003 Includes:
• two stops (+15°/ -7.5°),
3HAC025366-001
• two stops (+7.5°/ -15°),
3HAC025367-001
• attachment screws and
washers
• document for movable
mech.stop,
3HAC025408-001
Movable mechanical stop set, axis 1
(+7.5°/-15°)
3HAC025204-003 Includes:
• two stops (+15°/ -7.5°),
3HAC025366-001
• two stops (+7.5°/ -15°),
3HAC025367-001
• attachment screws and
washers
• document for movable
mech.stop,
3HAC025408-001
Standard toolkit - The content is defined in
section Standard toolkit on
page 265.
Technical reference manual - System
parameters (RobotWare 5.0)
-
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Fit the additional mechanical stop to the
frame according to the figure Mechanical
stops, axis 1 on page 84.
Tightening torque: 120 Nm.
Continued
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