ABB IRB 2400/L, Product Manual

Page: 55 / 227

2 Installation and commissioning
2.4.2. Mechanically restricting the working range of axis 1
53 3HAC022031-001 Revision: C
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Required equipment
Fitting, mechanical stop axis 1
The procedure below details how to fit a mechanical stop to the robot base.
Equipment Art. no. Note
Stop, axis 1 3HAB 7298-1 Includes:
• removable stop (2 pcs)
• plain washers (4 pcs)
• hex socket head cap screw (4
pcs, M12x30)
• drill template (1 pc)
User’s guide - S4Cplus (RobotWare
4.0)
Technical reference manual - System
parameters (RobotWare 5.0)
- Art. no. is specified in section
References on page 8 .
Action Note
1. Decide where to fit the extra mechanical stops,
according to the figure Location of where to drill
holes for extra stops on page 54 .
2. Make a copy of the drill template, enclosed with
the mechanical stop.
The template is also shown in the
figure
Drill template on page 56 in
scale 1:1.
3. Use the template to mark the center of the two
holes on each stop.
Place the template edge edge with
the robot base, as shown in the figure
Location of where to drill holes for
extra stops on page 54
.
4. Drill the holes through, Ø 10.2. Cut threads,
M12.
5. Fit the stops to the robot base, but without
tightening the screws.
Note! The stops must be mounted in
correct direction, as shown in the
figure
Location of where to drill holes
for extra stops on page 54 .
6. Turn axis 1 manually and check the working
range between the stops.
If necessary; correct the angle of
impact.
7. Tighten the screws.
8. The software working range limitations must be
re-defined to correspond to the changes in the
mechanical limitations of the working range.
How to define the range of movement
in RobotWare 4.0 is detailed in
User’s
guide - S4Cplus, chapter System
Parameters - topic Manipulator
.
The system parameters that must be
changed in RobotWare 5.0 (Upper
joint bound and Lower joint bound)
are further detailed in
Technical
reference manual - System
parameters
.
Continued
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