ABB IRB 6660 - Extended Working Range, Axis 1 (Option 561-1)

2.4.3 Extended working range, axis 1 (option 561-1)
Overview
The working range of axis 1 can be increased from standard range to extended ±
220º.
Extending the working range
Note/IllustrationAction
xx0400001034
Remove the mechanical stop pin from axis
1 (A).
1
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Redefine the software working range limit-
ations in the system parameters, topic
Motion. The Arm parameters Upper Joint
Boundand Lower Joint Bound must be
changed to 3.84 respectively -3.84. The
values are in radians, that is 3.84 radians
= 220 degrees.
2
Product manual - IRB 6660 103
3HAC028197-001 Revision: S
© Copyright 2007-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.3 Extended working range, axis 1 (option 561-1)