ABB IRB 6650S Series Product Manual page 100

2 Installation and commissioning
2.4.2 Mechanically restricting the working range of axis 1
Continued
Equipment, etc.
User's guide - S4Cplus (BaseWare OS
4.0) (BaseWare 4.0)
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
100
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 the additional mechanical stop to the
frame according to the figure
stops, axis 1 on page 99.
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 2004-2018 ABB. All rights reserved.
Article number Note
- Article number is specified in
section
Note
Tightening torque: 120 Nm.
Mechanical
How to define the range of movement in
RobotWare 4.0 is detailed in User's
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Ma-
nipulator.
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
References on page 10.
Product manual - IRB 6650S
3HAC020993-001 Revision: Z