Mechanically Restricting The Working Range Of Axis 1 - ABB IRB 2600 Series Product Manual

2 Installation and commissioning

2.4.2 Mechanically restricting the working range of axis 1

2.4.2 Mechanically restricting the working range of axis 1
Mechanically restricting the working range
The information in this section is valid both for the floor and the suspended mounted
robot.
The working range of axis 1 is limited by fixed mechanical stops. The working
range can be reduced further by adding movable mechanical stops.
The mechanical turning range can be limited in steps of 22.5° from the
synchronization position, between values defined in the table. The values differ
depending on which design of the gearbox (and base) the robot is equipped with.
Robot variant
IRB 2600 Type C-20/1.65, IRB 2600
Type C-12/1.65
IRB 2600-20/1.65, IRB 2600-12/1.65,
IRB 2600-12/1.85, IRB 2600ID-
15/1.85, IRB 2600ID-8/2.0
Required equipment
Equipment, etc.
Mechanical stop, axis 1
Attachment screw
Washer
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Continues on next page
90
Note
The software working range limitations must be adjusted to correspond to the
changes in the mechanical limitations of the working range. The system
parameters that must be changed (Upper joint bound and Lower joint bound)
are described in Technical reference manual - System parameters.
© Copyright 2009-2018 ABB. All rights reserved.
Limitation in mechanical turning range, calculated
from synchronization position
±126° to ±13.5° in steps of 22.5°
±129° to ±16.5° in steps of 22.5°
Art. no. Note
See Spare part Includes two additional stop lugs, attachment
lists on page 445. screws, washers and instruction
See Spare part 2 pcs/stop lug
lists on page 445.
Hex socket head cap screw M12x40, quality
8.8-A3F
See Spare part 2 pcs/lug
lists on page 445.
13x24x2.5
Content is defined in section
on page
These procedures include references to the
tools required.
Standard tools
441.
Product manual - IRB 2600
3HAC035504-001 Revision: Q