ABB IRB 6620 Product Manual page 110

2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 3
Continued
Equipment, etc.
Technical reference manu-
al - System parameters
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
110
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
Fit and tighten the mechanical stop, axis 3,
on to the lower arm.
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 (+70°/ -
90°).
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 2006-2018 ABB. All rights reserved.
Art. no. Note
- Art. no. is specified in section
ences on page
Note
Tightening torque: 115 Nm.
Shown in the figure
axis 3 on page 109
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Refer-
10.
Mechanical stops,
Product manual - IRB 6620
3HAC027151-001 Revision: T