ABB IRB 6640 Product Manual page 101

Equipment, etc.
Standard toolkit
Technical reference manual - System
parameters
Installation, mechanical stops axis 1
The procedure below details how to fit the mechanical stops of axis 1 to the robot. An
assembly drawing is also enclosed with the product.
3HAC026876-001 Revision: F
Action
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and
SMB.
2. Fit the additional mechanical stop to the
frame according to the figure
stops, axis 1 on page 98.
3.
NOTE!
To use the option 561-1 Extended working
range axis 1 the software working range
limitations must be redefined in the system
parameters, topic Motion. The Arm
parameters Upper Joint Boundand Lower
Joint Bound must be changed to 3.84
respectively -3.84. The values are in radians,
that is 3.84 radians = 220 deg.
4.
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.
2 Installation and commissioning
2.7.2. Mechanically restricting the working range of axis 1
Art. no.
-
-
Note
Tightening torque: 120 Nm.
Mechanical
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Continued
Note
The content is defined in the
section Standard toolkit on
page 409.
Art. no. is specified in section
References.
99