ABB IRB 4400 - 45 Product Manual page 73

F
G
Working ranges
The working range of axis 2 can be restricted according to the table below. The table applies
to all robot versions except IRB 4400/FS.
Note! Initial position for the IRB 4450S is +48°
Working range
+95° / -70°
+95° / -40°
+95° / -10°
+65° / -70°
+65° / -40°
+65° / -10°
+35° / -70°
+35° / -40°
+35° / -10°
+5° / -70° (not applicable on IRB 4400/S)
+5° / -40° (not applicable on IRB 4400/S)
+5° / -10° (not applicable on IRB 4400/S)
Fitting, mechancial stop axis 2
The procedure below details how to fit the additional mechanical stop to the lower arm and
the gearbox unit.
Mounting instructions are also supplied with the kit.
3HAC022032-001 Revision: E
2.4.3. Mechanically restricting the working range of axis 2
Damper
Attachment screw, damper (+nut)
•
Each damper is fitted with: 2 attachment screws and 2 hexagon nuts.
• Each spacer is fitted with: 1 attachment screw and 1 hexagon nut.
Action
1. Determine the working range restriction.
2. Fit both the spacers to either side of the gearbox unit,
with the attachment screws and nuts, spacer.
2 Installation and commissioning
Damper, qty
-
-
2
2
2
4
4
4
6
6
6
8
Info/Illustration
See Working ranges on
page 71.
Shown in the figure
Additional stops on page
Art. no. is specified in
Required equipment on
page 69.
Attachment screw: 1 pc/
spacer, M16x70. Tightening
torque: 156 Nm.
Continues on next page
Continued
Spacer, qty
-
2
2
-
2
2
-
2
2
-
2
2
70.
71