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Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
1
2
3
4
3HAC022033-001 Revision: M
2.6.4 Mechanically restricting the working range of axis 3
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.
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al 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.
2 Installation and commissioning
Note
Tightening torque: 115 Nm.
Shown in the figure
axis 3 on page 125
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.
Continued
Mechanical stops,
127
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