ABB IRB 2400/L Product Manual page 74

2 Installation and commissioning
2.4.2 Mechanically restricting the working range of axis 1
Continued
3
4
5
6
7
8
9
Continues on next page
74
Action
Use the template to mark the center of the two
holes on each stop.
Drill the holes through, Ø 10.2. Cut threads,
M12.
Fit the stops to the robot base, but without
tightening the screws.
Turn axis 1 manually and check the working
range between the stops.
Tighten the screws.
Adjust the software working range limitations
(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.
© Copyright 2004-2018 ABB. All rights reserved.
Note
Place the template edge edge with
the robot base, as shown in the figure
Location of where to drill holes for
extra stops on page 75.
Note! The stops must be mounted in
correct direction, as shown in the fig-
ure Location of where to drill holes
for extra stops on page 75.
If necessary; correct the angle of im-
pact.
How to define the range of movement
in RobotWare 4.0 is detailed in User's
guide - S4Cplus (BaseWare OS 4.0),
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.
Product manual - IRB 2400
3HAC022031-001 Revision: P