ABB IRB 6650S - 200/3.0 Product Manual page 91

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.
3HAC020993-001 Revision: G
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!
2 Installation and commissioning
2.4.3. Mechanically restricting the working range of axis 2
Note
Tightening torque: 115 Nm.
Shown in the figure
axis 2 on page
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.
Continued
Mechanical stops,
88.
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