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Equipment, etc.
User's guide - S4Cplus (RobotWare
4.0)
Technical reference manual - System
parameters (RobotWare 5.0)
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.
3HAC022033-001 Revision: E
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 the additional mechanical stop to the
frame according to the figure
stops, axis 1 on page
102.
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!
2 Installation and commissioning
2.6.2. Mechanically restricting the working range of axis 1
Art. no.
-
Note
Tightening torque: 120 Nm.
Mechanical
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
Note
Art. no. is specified in section
References on page
8.
103
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