ABB Robotics IRB 6790 Product Manual page 91

Required equipment
Equipment, etc.
Movable mechanical stop set, axis 1
(15°).
Standard toolkit
Technical reference manual - System
parameters
Installation, mechanical stops axis 1
Use this procedure to fit the additional mechanical stops to axis 1 of the robot. An
assembly drawing is also enclosed with the product.
1
2
3
4
Product manual - IRB 6790
3HAC063331-001 Revision: B
2.6.2 Mechanically restricting the working range of axis 1
Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
Before entering the robot working area.
Fit the additional mechanical stop to the
frame according to the figure
stops, axis 1 on page 90.
Adjust the software working range limitations
(system parameter configuration) to corres-
pond to the mechanical limitations.
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 2019 - 2020 ABB. All rights reserved.
2 Installation and commissioning
Article number Note
3HAC055744-001 Includes attachment screws and
an assembly drawing.
-
- Article number is specified in
section
Note
Tightening torque: 60 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
References on page 10.
91