2 Installation and commissioning
2.6.3. Mechanically restricting the working range of axis 3
3HAC027151-001 Revision: B88
© Copyright 2006-2008 ABB. All rights reserved.
Installation, mechanical stops axis 3
The procedure below details how to fit the mechanical stops for axis 3 to the robot. An
assembly drawing is also enclosed with the product.
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Fit and tighten the mechanical stop, axis 3,
on to the lower arm.
Shown in the figure Mechanical stops,
axis 3 on page 87
3.
NOTE!
The software working range limitations must
be re-defined to correspond to the changes
in the mechanical limitations of the working
range(+70°/ -90°).
The system parameters that must be
changed in RobotWare 5.0 (Upper joint
bound and Lower joint bound) are further
detailed in Technical reference manual -
System parameters.
4.
WARNING!
If the mechanical stop is deformed after a
hard collision, it must be replaced!
Continued
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