ABB IRB 6650S - 200/3.0 Product Manual page 93

Installation, mechanical stops axis 3
The procedure below details how to fit the mechanical stops for axis 3 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. Mount and tighten the additional stops in a
row, starting from the fixed stop.
3. Note! 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
2.4.4. Mechanically restricting the working range of axis 3
Note
Shown in the figure
axis 3 on page 90
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,
91