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2 Installation and commissioning
2.6.2 Mechanically restricting the working range of axis 1
Continued
Equipment, etc.
User's guide - S4Cplus (BaseWare OS
4.0) (BaseWare 4.0)
Technical reference manual - System
parameters
Installation, mechanical stops axis 1
Use this procedure to fit mechanical stops to axis 1 of the robot. An assembly
drawing is also enclosed with the product.
1
2
3
4
122
Action
DANGER
Turn off all:
•
electric power supply to the robot
•
hydraulic pressure supply to the robot
•
air pressure supply to the robot
Before entering the robot working area.
Fit the additional mechanical stop to the
frame according to the figure
stops, axis 1 on page
121.
Adjust the software working range limitations
(system parameter configuration) to corres-
pond to the mechanical limitations.
WARNING
If the mechanical stop pin is deformed after
a hard collision, it must be replaced!
Deformed movable stops and/or additional
stops as well as deformed attachment
screws must also be replaced after a hard
collision.
© Copyright 2007-2013 ABB. All rights reserved.
Art. no.
Note
-
Art. no. is specified in section
References on page
Note
Tightening torque: 120 Nm.
Mechanical
How to define the range of movement in
RobotWare 4.0 is detailed in User's
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Ma-
nipulator.
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
10.
3HAC022033-001 Revision: M
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