Keep X Direction Downwards (Tilted Or Wall Mounted Robot) - ABB IRB 1660 Product Manual

Keep X direction downwards (tilted or wall mounted robot)

Negative directions in axis 1 have extra gravity force (tilted or wall mounted robots)
If the robot is wall mounted or mounted in a tilted position, the additional mechanical
stop pin restricts the robot when the axis 1 moves in a positive direction, for example
from 0º and upwards to 90º (b).
The stop pin does not manage the extra gravity force that comes from when axis
1 moves in a negative direction, for example from 180º downwards to 90º (a).
xx1300000180
(a)
(b)
Product manual - IRB 1600/1660
3HAC026660-001 Revision: W
2.4.2 Installation of additional mechanical stops on axis 1
CAUTION
If the robot is wall mounted or mounted in a tilted position, it is important that
the X direction of the base coordinate system points downwards, as shown in
the figure below.
Y
+X
xx1200001354
(a)
(b)
The additional stop pin does not manage the extra gravity force in this restricted
working area (for tilted or wall mounted robots).
The additional stop pin manages to restrict this working area (for tilted or wall
mounted robots).
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2 Installation and commissioning
Z
Y
(a)
Continues on next page
Continued
Z
+X
(b)
101