Restricting The Working Space; Axis 1 - ABB IRB 6400R Product On-Line Manual

Installation and Commissioning

2.6 Restricting the working space

When installing the manipulator, make sure that it can move freely within its entire
working space. If there is a risk that it may collide with other objects, its working space
should be limited, both mechanically and using software. Installation of an optional
extra stop for the main axes 1, 2 and 3 is described below.
Limiting the working space using software is described in the chapter System Param-
eters in the User's Guide.
If a Process Media cabling is mounted on the manipulator the area between 100° and
180° must not be used as the main working space, due to the risk of extreme warned
out and shortened life span on the cabling, see Figure 13.
Figure 13 Restricted Work Space

2.6.1 Axis 1

The range of rotation for axis 1 can be limited mechanically by fitting extra mechanical
stops, with 7.5º or 15º graduation.
Instructions for doing this are supplied with the kit.
IMPORTANT! The mechanical stop pin and the extra moveable mechanical stop
arm for axis 1 must absolutely be replaced after a hard collision, if the pin or arm
has been deformed.
Product Manual IRB 6400R
180°
100°
On-Site Installation
Restricted Working space
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