ABB IRB 6640 Product Manual page 106

2 Installation and commissioning
2.7.4. Mechanically restricting the working range of axis 3
Continued
Installation, mechanical stops axis 3
The procedure below details how to fit the mechanical stops for axis 3 to the robot. An
assembly drawing is also enclosed with the product.
104
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.
NOTE!
The software working range limitations
(system parameters) 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.
Note
Tightening torque: 115 Nm.
Shown in the figure Mechanical stops,
axis 3 on page 102
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
3HAC026876-001 Revision: F