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2 Installation and commissioning
2.6.1 Introduction
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. Note 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.
120
•
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)
Note
Adjustments must also be made in the robot configuration software (system
parameters). References to relevant manuals are included in the installation
procedures.
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3HAC022033-001 Revision: M
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