Disassembly/Assembly
Guidelines
IRB 6400
Robot Handling
Page 3- 6
RESTRICTING AXES MOVEMENT MECHANICALLY
When installing the manipulator, make sure that it can move freely within its e n-
tire working space. If there is a risk that it may collide with other objects, its
working space should be limited, both mechanically and using software. Insta l-
lation of an optional extra stop for the main axes 1, 2 and 3 is described belo w
.
Limiting the working space using software is described in the System Para m-
eters in the User’s Guide.
Axis 1
The range of rotation for axis 1 can be limited mechanically by fitting extra m e-
chanical stop arms (3HAB 4224-001). Instructions for doing this are supplied
with the kit.
CAUTION: THE MECHANICAL STOP PIN AND THE EXTRA MOV-
ABLE MECHANICAL STOP ARM FOR AXIS 1 BE REPLACED AF-
TER ANY HARD COLLISION TYPE STOP, IF THE PIN OR ARM
HAS BEEN BENT OR DAMAGED IN ANY WAY.
Axes 2 and 3
The working range of axes 2 and 3 is limited by mechanically stops and can be
reduced by adding fixed mechanical stops (3HAB 4087-001). The stops are
mounted on the inside of the frame to each axis. Extra stops must be mounted
in a row, with starting-point from the fixed stop.
Figure 8 Mechanically limiting axes 2 and 3.
Holes for extra stops
FOR AXES 1-3 IS 3HAB 4225-001.
MECHANICAL STOPS PART NUMBER
C
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