ABB IRB 6730, Product Manual

Page: 88 / 660

3.4.2 Installing movable mechanical stops on axis 1 (option 3323-1)
Reduction of the axis-1 working range
The working range of axis 1 is limited by system parameter configuration. To reduce
the working range from default range, first adjust the parameter values and then
install additional mechanical stops as a safety measure.
The movable mechanical stops reduce the working range according to the table.
Reduction of working range Graduation of limited working range
from ±5° and ±125° in both directions 15°
Illustration, reduced working range
5°
5°
50°
50°
125°
125
°
A
A
xx2100000973
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.
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88 Product manual - IRB 6730
3HAC085699-001 Revision: B
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3 Installation and commissioning
3.4.2 Installing movable mechanical stops on axis 1 (option 3323-1)