2 Installation and commissioning
2.6.4. Mechanically restricting the working range of axis 3
1213HAC022033-001 Revision: K
© Copyright 2004-2011 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!
Turn off all electric power and hydraulic but
not the air pressure to the gearboxes,
motors and SMB.
2. Fit and tighten the additional stops in a row,
starting from the fixed stop.
Tightening torque: 115 Nm.
Shown in the figure Mechanical stops,
axis 3 on page 119
3.
NOTE!
The software working range limitations
(system parameters) must be redefined 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 (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
4.
WARNING!
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
Continued
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