Mechanically Restricting The Working Range Of Axis 1 - ABB IRB 4600 - 40/2.55 Product Manual

2.4.2 Mechanically restricting the working range of axis 1

Mechanically restricting the working range
The information in this section is valid both for the floor and the suspended mounted
robot.
The working range of axis 1 is limited by fixed mechanical stops. The working
range can be reduced further by adding movable mechanical stops. The mechanical
turning range can be limited between ±129° to ±16.5° in steps of 22.5° from
synchronization position.
Required equipment
Equipment, etc.
Mechanical stop, axis 1
Attachment screw
Washer
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
3HAC033453-001 Revision: H
2.4.2 Mechanically restricting the working range of axis 1
Note
The software working range limitations must be adjusted to correspond to the
changes in the mechanical limitations of the working range. The system
parameters that must be changed (Upper joint bound and Lower joint bound)
are described in Technical reference manual - System parameters.
© Copyright 2009-2013 ABB. All rights reserved.
2 Installation and commissioning
Art. no. Note
See Spare part Includes two additional stop lugs, attachment
list on page 345. screws, washers and instruction
See Spare part 2 pcs/stop lug
list on page 345.
Hex socket head cap screw M12x40, quality
8.8-A3F
See Spare part 2 pcs/lug
list on page 345.
13x24x2.5
Content is defined in section
on page
These procedures include references to the
tools required.
Standard tools
341.
Continues on next page
87