Mechanically Restricting The Working Range Of Axis 1 - ABB Robotics IRB 4600 Manual

2.4.2 Mechanically restricting the working range of axis 1

Mechanically restricting the working range
The information in this section is valid both for the floor and the suspended mounted
robot.
The working range of axis 1 is limited by fixed mechanical stops. The working
range can be reduced further by adding movable mechanical stops.
The mechanical turning range can be limited in steps of 22.5° from the
synchronization position, between values defined in the table. The values differ
depending on which design of the gearbox (and base) the robot is equipped with.
Design of gearbox
Type C and Type D
other design than Type C and Type
D
Required equipment
Equipment, etc.
Mechanical stop, axis 1
Attachment screw
Washer
Standard toolkit
Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Product manual - IRB 4600
3HAC033453-001 Revision: Y
2.4.2 Mechanically restricting the working range of axis 1
Note
The software working range limitations must be adjusted to correspond to the
changes in the mechanical limitations of the working range. The system
parameters that must be changed (Upper joint bound and Lower joint bound)
are described in Technical reference manual - System parameters.
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2 Installation and commissioning
Limitation in mechanical turning range, calculated
from synchronization position
±126° to ±13.5° in steps of 22.5°
±129° to ±16.5° in steps of 22.5°
Art. no. Note
See Spare part Includes two additional stop lugs, attachment
lists on page 391. screws, washers and instruction
See Spare part 2 pcs/stop lug
lists on page 391.
Hex socket head cap screw M12x40, quality
8.8-A3F
See Spare part 2 pcs/lug
lists on page 391.
13x24x2.5
Content is defined in section
on page
These procedures include references to the
tools required.
Standard tools
385.
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