ABB IRB 6650S Series Product Manual page 103

Installation, mechanical stops axis 2
Use the procedure to fit the mechanical stops for axis 2 to the robot. An assembly
drawing is also enclosed with the product.
1
2
3
4
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
2.4.4 Mechanically restricting the working range of axis 2
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.
Fit and tighten the additional stops in a row,
starting from the fixed stop.
The software working range limitations must
be redefined to correspond to the changes
in the mechanical limitations of the working
range.
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.
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
Note
Tightening torque: 115 Nm.
Shown in the figure
axis 2 on page 102.
How to define the range of movement in
RobotWare 4.0 is detailed in User's
guide - S4Cplus (BaseWare OS 4.0),
chapter System Parameters - topic Manip-
ulator.
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Continued
Mechanical stops,
103