Extended Working Range, Axis 1 (Option 561-1) - ABB IRB 7600 Series Product Manual

2.5.10 Extended working range, axis 1 (option 561-1)

Overview
The working range of axis 1 can be increased from standard range to extended ±
220º.
Extending the working range
1
2
3
Product manual - IRB 7600
3HAC022033-001 Revision: V
Action
Remove the mechanical stop pin from axis
1 (A).
Option 561-1 requires installation of option
810-1 Electronic Position Switches.
Configure Electronic Position Switches.
Redefine the software working range limit-
ations in the system parameters, topic
Motion. The Arm parameters Upper Joint
Boundand Lower Joint Bound must be
changed to 3.84 respectively -3.84. The
values are in radians, that is 3.84 radians
= 220 degrees.
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2 Installation and commissioning
2.5.10 Extended working range, axis 1 (option 561-1)
Note/Illustration
xx0400001034
See Application manual - Electronic Posi-
tion Switches.
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 Manip-
ulator.
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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