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2 Installation and commissioning
2.6.3. Mechanically restricting the working range of axis 2
Continued
Installation, mechanical stops axis 2
The procedure below details how to fit the mechanical stops for axis 2 to the robot. An
assembly drawing is also enclosed with the product.
108
Action
1.
DANGER!
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. Fit and tighten the additional stops in a row,
starting from the fixed stop.
3. The software working range limitations must
be re-defined to correspond to the changes
in the mechanical limitations of the working
range.
4.
WARNING!
If the mechanical stop is deformed after a
hard collision, it must be replaced!
Note
Tightening torque: 115 Nm.
Shown in the figure
Mechanical stops,
axis 2 on page
107.
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 in RobotWare 5.0 (Upper joint
bound and Lower joint bound) are further
detailed in Technical reference manual -
System parameters.
3HAC023082-001 Revision: E
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