ABB IRB 6640 Foundry Prime Product Manual page 111

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Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N
2.8.3 Mechanically restricting the working range of axis 2
Action
Fit and tighten the additional stops in a row,
starting from the fixed stop.
The software working range limitations must
be redefined to correspond to the changes
in the mechanical 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 2011-2018 ABB. All rights reserved.
2 Installation and commissioning
Note
Tightening torque: 115 Nm.
Shown in the figure
axis 2 on page 110.
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,
111