2 Installation and commissioning
2.6.5. Installation of position switches (option)
1153HAC023082-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Connections
The position switches are connected to different points on the robot system:
• XT8, screw terminal in the controller cabinet when position switch cables are used.
• R1.SW1 at the robot base. Customer connection kit is recommended, art. no. is
specified in Required equipment on page 111!
• R1.SW2/3 at the robot base. Customer connection kit is recommended, art. no. is
specified in Required equipment on page 111!
Further information about the cables and connection points, see section Robot cabling and
connection points on page 122.
Installation of position switch, axis 2
In The robot is equipped with a cable protection at the lower arm that must be removed before
fitting the positions switch for axis 2:
Fitting and adjusting cams and stops
The instruction below details how to fit and adjust the parts of the position switches:
Action
1. Remove the cable protection from the lower arm.
2. Fit the rail by pushing it against the support surface on the lower arm and tightening
the two screws.
3. Fit the cam and the position switch unit.
4. Refit the cable protection to the lower arm with two screws.
Action Note
1. Cut the cam to a suitable length. Use a sharp knife and rubber
hammer or similar.
2. Cut the edge of the cam edge to max 30°! Shown in Illustration, cutting
the cam on page 116.
If the angle is larger, this may
damage the position switch!
3. Cut the part of the cam running in the profile to 90°!
Also see Illustration, cutting the cam on page 116
below!
4. Make sure the ends of the profile are chamfered to
enable the cam to run through the profile.
5. Fit the cam with the M5 screw and nut. Tighten the M5
screw to secure the cam.
Shown in Illustration, adjust
and secure cams on page
116.
6. Install the cabling for axes 2 and/or 3. Detailed in section Installation
of cable harness for position
switches and fans on page
118.
Continued
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