ABB IRB 6640 Foundry Prime Product Manual page 114

2 Installation and commissioning
2.8.4 Mechanically restricting the working range of axis 3
Continued
Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
1
2
3
4
114
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al 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.
Note
Tightening torque: 115 Nm.
Shown in the figure Mechanical stops,
axis 3 on page 112
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Product manual - IRB 6640 Foundry Prime
3HAC040586-001 Revision: N