ABB IRB 6730, Product Manual

Page: 90 / 660

Installing the movable mechanical stops
Use this procedure to fit the additional mechanical stops. An assembly drawing is
also enclosed with the product.??
Note Action
DANGER
Turn off all:
• electric power supply
• hydraulic pressure supply
• air pressure supply
to the robot, before entering the safeguarded
space.
1
See Location of the mechanical stops on
page 89 .
Use the additional mechanical stop as a
template and drill fastening holes with dimen-
sion M12 at the base. 2
Tightening torque: 60 Nm. Fit the additional mechanical stops according
to the figure
Location of the mechanical
stops on page 89 .
Note
Install the washer with the chamfer turned
downwards.
A
A
xx2100000974
3
The system parameters that must be
changed (
Upper joint bound and Lower
joint bound ) are described in Technical
reference manual - System parameters .
Adjust the software working range limitations
(system parameter configuration) to corres-
pond to the mechanical limitations. 4
DANGER
Make sure all safety requirements are met
when performing the first test run. See
Test
run after installation, maintenance, or repair
on page 96
.
5
90 Product manual - IRB 6730
3HAC085699-001 Revision: B
© Copyright 2023 ABB. All rights reserved.
3 Installation and commissioning
3.4.2 Installing movable mechanical stops on axis 1 (option 3323-1)
Continued