2 Installation and commissioning
2.4.4. Mechanically restricting the working range of axis 3
913HAC020993-001 Revision: G
© Copyright 2004-2008 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!
For Foundry Prime robots: Do not turn off
the air pressure to motors and SMB.
2. Mount and tighten the additional stops in a
row, starting from the fixed stop.
Shown in the figure Mechanical stops,
axis 3 on page 90
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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