Restricting The Working Range; Introduction - ABB IRB 7600 - 500/2.55 Product Manual

2.6 Restricting the working range

2.6.1. Introduction

General
When installing the robot, make sure that it can move freely within its entire working space.
If there is a risk that it may collide with other objects, its working space should be limited.
The working range of the following axes may be restricted:
As standard configuration, axis 1 is allowed to move ± 180º. The working range may however
be increased to ± 220º with option 561-1 "Extended working range axis 1". Notice that this
option also requires installation of a position switch on axis 1.
This section describes how to install hardware that restricts the working range.
Notice that adjustments must also be made in the software. References to software manuals
are given in the following installation procedures.
3HAC022033-001 Revision: E
• Axis 1, hardware (mechanical stop) and software (signal from adjustable position
switch)
• Axis 2, hardware (mechanical stop) and software (signal from adjustable position
switch)
•
Axis 3, hardware (mechanical stop) and software (signal from adjustable position
switch)
2 Installation and commissioning
2.6.1. Introduction
101