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Connections
The position switches are connected to different points on the robot system:
Further information about the cables and connection points, see section
cabling and connection points on page
Installation of position switch, axis 2
1
2
3
4
5
Fitting and adjusting cams and stops
The instruction below details how to fit and adjust the parts of the position switches:
1
2
3
4
5
6
Product manual - IRB 6650S
3HAC020993-001 Revision: Z
•
XT8, screw terminal in the controller cabinet when position switch cables are
used.
•
R1.SW1 at the robot base. Customer connection kit is recommended, art.
no. is specified in
Required equipment on page
•
R1.SW2/3 at the robot base. Customer connection kit is recommended, art.
no. is specified in
Required equipment on page
Action
Remove the cable protection from the lower arm.
Fit the rail by pushing it against the support surface on the lower arm and tightening
the two screws.
Fit the cam and the position switch unit.
Refit the cable protection to the lower arm with two screws.
Adjust the software working range limitations (system parameter configuration) to
correspond to the mechanical limitations.
The system parameters that must be changed (Upper joint bound and Lower joint
bound) are described in Technical reference manual - System parameters.
Action
Cut the cam to a suitable length.
Cut the edge of the cam edge to max 30°!
Cut the part of the cam running in the profile to 90°!
Also see
Illustration, cutting the cam on page 112
Make sure the ends of the profile are chamfered to
enable the cam to run through the profile.
Fit the cam with the M5 screw and nut. Tighten the M5
screw to secure the cam.
Install the cabling for axes 2 and/or 3.
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.6 Installation of position switches (option)
107!
107!
119.
Note
Use a sharp knife and rubber
hammer or similar.
Shown in
the cam on page
If the angle is larger, this may
damage the position switch!
below!
Shown in
and secure cams on page
Detailed in section
of cable harness for position
switches and fans on page
Continues on next page
Continued
Robot
Illustration, cutting
112.
Illustration, adjust
112.
Installation
115.
111
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