Restricting The Working Range; Introduction - ABB IRB 7600 Series Product Manual

2 Installation and commissioning

2.6.1. Introduction

2.6 Restricting the working range

2.6.1. Introduction
General
When installing the robot, make sure that it can move freely within its entire working space.
If there is a risk that it may collide with other objects, its working space should be limited.
The working range of the following axes may be restricted:
As standard configuration, axis 1 is allowed to move ± 180º. The working range may however
be increased to ± 220º with option 561-1 Extended working range axis 1. Note that this option
also requires installation of a position switch on axis 1.
This section describes how to install hardware that restricts the working range.
Note! Adjustments must also be made in the robot configuration software (system
parameters). References to relevant manuals are included in the installation procedures.
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• Axis 1, hardware (mechanical stop) and software (signal from adjustable position
switch)
•
Axis 2, hardware (mechanical stop) and software (signal from adjustable position
switch)
• Axis 3, hardware (mechanical stop) and software (signal from adjustable position
switch)
3HAC022033-001 Revision: K