ABB IRB 6620, Product Manual

Page: 110 / 360

Note Art. no. Equipment, etc.
Art. no. is specified in section Refer-
ences on page 10 .
- Technical reference manu-
al - System parameters
Installation, mechanical stops axis 3
Use the procedure to fit the mechanical stops for axis 3 to the robot. An assembly
drawing is also enclosed with the product.
Note Action
DANGER
Turn off all:
• electric power supply to the robot
• hydraulic pressure supply to the robot
• air pressure supply to the robot
Before entering the robot working area.
1
Tightening torque: 115 Nm. Fit and tighten the mechanical stop, axis 3,
on to the lower arm. 2
Shown in the figure Mechanical stops,
axis 3 on page 109
The system parameters that must be
changed (
Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
Note
The software working range limitations
(system parameters) must be redefined to
correspond to the changes in the mechanic-
al limitations of the working range (+70°/ -
90°).
3
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.
4
110 Product manual - IRB 6620
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.6.3 Mechanically restricting the working range of axis 3
Continued