ABB IRB 7600 Series Product Manual page 118

2 Installation and commissioning
2.6.2. Mechanically restricting the working range of axis 1
Continued
Installation, mechanical stops axis 1
Use this procedure to fit mechanical stops to axis 1 of the robot. An assembly drawing is also
enclosed with the product.
1.
2. Fit the additional mechanical stop to the
3. Adjust the software working range limitations
4.
116
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Action
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
Turn off all electric power and hydraulic but
not the air pressure to the gearboxes, motors
and SMB.
frame according to the figure
stops, axis 1 on page 115.
(system parameter configuration) to
correspond to the mechanical limitations.
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.
Note
Tightening torque: 120 Nm.
Mechanical
How to define the range of movement in
RobotWare 4.0 is detailed in User's
guide - S4Cplus, chapter System
Parameters - topic Manipulator.
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: K