ABB IRB 4400 - 45 Product Manual page 78

2 Installation and commissioning
2.4.5. Unlimited working range
Continued
Removal of mechanical stop, axis 4
The procedure below details how to remove the mechanical stop of axis 4, to enable the
function "Resetting the work area for an axis".
When the damper is removed from axis 4, the axis does not have a mechanical stop! If the
robot is provided with cabling on the upper arm, the cabling can be damaged when the
function "Resetting the work area for an axis" is used, or if the robot is jogged uncalibrated.
76
Action
1.
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. Loosen the attachment screws, mech stop and
remove the mechanical stop, axis 4.
3. Slowly rotate axis 4 until the damper is visible through
the hole.
4. Remove the damper.
5. Refit the mechanical stop to the axis 4 with its
attachment screws.
Info/Illustration
Shown in the figure Location
of mechanical stop, axis 4 on
page 75.
4 pcs, M8x16. Tightening
torque: 24 Nm.
3HAC022032-001 Revision: E