2 Installation and commissioning
2.4.2. Mechanically restricting the working range of axis 1
873HAC020993-001 Revision: G
© Copyright 2004-2008 ABB. All rights reserved.
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.
User’s guide - S4Cplus (RobotWare
4.0)
Technical reference manual - System
parameters (RobotWare 5.0)
- Art. no. is specified in section
References on page 10.
Equipment, etc. Art. no. Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots: Do not turn off the
air pressure to motors and SMB.
2. Fit the additional mechanical stop to the
frame according to the figure Mechanical
stops, axis 1 on page 86.
Tightening torque: 120 Nm.
3. Note! The software working range limitations
must be re-defined to correspond to the
changes in the mechanical limitations of the
working range.
How to define the range of movement in
RobotWare 4.0 is detailed in User’s
guide - S4Cplus, chapter System
Parameters - topic Manipulator.
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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