NoteArt. no.Equipment, etc.
Art. no. is specified in section Refer-
ences on page 10.
-Technical reference manu-
al - System parameters
Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
NoteAction
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm.Fit and tighten the mechanical stop, axis 3,
on to the lower arm.
2
Shown in the figure Mechanical stops,
axis 3 on page 109
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al limitations of the working range (+70°/ -
90°).
3
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
4
110 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 3
Continued
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