ABB IRB 2400 Series, Product Manual

Page: 74 / 242

Note Action
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 75
.
Use the template to mark the center of the two
holes on each stop. 3
Drill the holes through, Ø 10.2. Cut threads,
M12. 4
Note! The stops must be mounted in
correct direction, as shown in the fig-
ure
Location of where to drill holes
for extra stops on page 75 .
Fit the stops to the robot base, but without
tightening the screws. 5
If necessary; correct the angle of im-
pact. Turn axis 1 manually and check the working
range between the stops. 6
Tighten the screws. 7
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
Manipulator
.
Adjust the software working range limitations
(system parameter configuration) to correspond
to the mechanical limitations. 8
The system parameters that must be
changed (
Upper joint bound and
Lower joint bound ) are described in
Technical reference manual - System
parameters
.
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.
9
Continues on next page
74 Product manual - IRB 2400
3HAC022031-001 Revision: P
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.2 Mechanically restricting the working range of axis 1
Continued