ABB IRB 6640 Product Manual page 103

Installation, mechanical stops axis 2
The procedure below details how to fit the mechanical stops for axis 2 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 and tighten the additional stops in a row,
starting from the fixed stop.
3. The software working range limitations must
be redefined to correspond to the changes in
the mechanical limitations of the working
range.
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
2.7.3. Mechanically restricting the working range of axis 2
Note
Tightening torque: 115 Nm.
Shown in the figure
axis 2 on page
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,
100.
101