ABB IRB 4400 - L10, Product Manual

Page: 76 / 304

2.5.3 Mechanically restricting the working range of axis 2
Mechanically restricting the working range
The working range of axis 2 can be restricted mechanically by fitting additional
mechanical stops (spacers and dampers) to the lower arm and gearbox unit axis
1-3, as detailed in this section. Note that the system parameter configuration must
also be adjusted (
Upper joint bound and Lower joint bound for the type Arm in the
topic Motion ).
Required equipment
Note Art. no. Spare part no. Equipment, etc.
Includes spacers, dampers,
attachment screws and nuts. 3HAC4225-1 Mechanical stop, axis 2
3HAB9185-1 Spacer (damper)
3HAC3962-1 Spacer
Content is defined in section
Contents, standard toolkit on
page 291
.
3HAC17594-1 Standard toolkit
These procedures include
references to the tools re-
quired. Other tools and procedures
may be required. See refer-
ences to these procedures
in the step-by-step instruc-
tions below.
Continues on next page
76 Product manual - IRB 4400
3HAC022032-001 Revision: Q
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2 Installation and commissioning
2.5.3 Mechanically restricting the working range of axis 2