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2 Installation and commissioning
2.4.2. Mechanically restricting the working range of axis 1
Continued
Installation, mechanical stops axis 1
The procedure below details how to fit the mechanical stops of axis 1 to the robot. An
assembly drawing is also enclosed with the product.
80
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
2. Fit the additional mechanical stop to the
frame according to the figure
stops, axis 1 on page
79.
3.
NOTE!
To utilize the option 561-1 "Extended working
range axis 1" the software working range
limitations must be re-defined. The motion
configuration parameter "arm/rob1_1/Upper
Joint Bound" and "arm/rob1_1/Lower Joint
Bound" must be changed to 3.84 resp. -3.84.
The values are in radians that is 220 deg. =
3.84 rad.
4.
WARNING!
If the mechanical stop is deformed after a
hard collision, it must be replaced!
Note
Tightening torque: 120 Nm.
Mechanical
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.
3HAC028197-001 Revision: A
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