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2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 2
Continued
Equipment, etc.
User's guide - S4Cplus
(BaseWare OS 4.0) (Robot-
Ware 4.0)
Technical reference manu-
al - System parameters
Installation, mechanical stops axis 2
Use the procedure to fit the mechanical stops for axis 2 to the robot. An assembly
drawing is also enclosed with the product.
1
2
3
4
124
Art. no.
-
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 and tighten the additional stops in a row,
starting from the fixed stop.
The software working range limitations must
be redefined to correspond to the changes
in the mechanical limitations of the working
range.
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.
Note
Art. no. is specified in section
ences on page
10.
Note
Tightening torque: 115 Nm.
Shown in the figure
Mechanical stops,
axis 2 on page
123.
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 Manip-
ulator.
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
3HAC022033-001 Revision: M
Refer-
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