ABB IRB 4600 - 20/2.50, Product Manual

Page: 87 / 374

2.4.2 Mechanically restricting the working range of axis 1
Mechanically restricting the working range
The information in this section is valid both for the floor and the suspended mounted
robot.
The working range of axis 1 is limited by fixed mechanical stops. The working
range can be reduced further by adding movable mechanical stops. The mechanical
turning range can be limited between ±129° to ±16.5° in steps of 22.5° from
synchronization position.
Note
The software working range limitations must be adjusted to correspond to the
changes in the mechanical limitations of the working range. The system
parameters that must be changed (
Upper joint bound and Lower joint bound )
are described in Technical reference manual - System parameters .
Required equipment
Note Art. no. Equipment, etc.
Includes two additional stop lugs, attachment
screws, washers and instruction See Spare part
list on page 345 .
Mechanical stop, axis 1
2 pcs/stop lug See Spare part
list on page 345 .
Attachment screw
Hex socket head cap screw M12x40, quality
8.8-A3F
2 pcs/lug See Spare part
list on page 345 .
Washer
13x24x2.5
Content is defined in section Standard tools
on page 341 .
Standard toolkit
These procedures include references to the
tools required. 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
3HAC033453-001 Revision: H 87
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2 Installation and commissioning
2.4.2 Mechanically restricting the working range of axis 1