2.4.2 Mechanically restricting the working range of axis 1Mechanically restricting the working rangeThe information in this section is valid both for the floor and the suspended mountedrobot.The working range of axis 1 is limited by fixed mechanical stops. The workingrange can be reduced further by adding movable mechanical stops. The mechanicalturning range can be limited between ±129° to ±16.5° in steps of 22.5° fromsynchronization position.NoteThe software working range limitations must be adjusted to correspond to thechanges in the mechanical limitations of the working range. The systemparameters that must be changed (Upper joint bound and Lower joint bound)are described in Technical reference manual - System parameters.Required equipmentNoteArt. no.Equipment, etc.Includes two additional stop lugs, attachmentscrews, washers and instructionSee Spare partlist on page 345.Mechanical stop, axis 12 pcs/stop lugSee Spare partlist on page 345.Attachment screwHex socket head cap screw M12x40, quality8.8-A3F2 pcs/lugSee Spare partlist on page 345.Washer13x24x2.5Content is defined in section Standard toolson page 341.Standard toolkitThese procedures include references to thetools required.Other tools and proceduresmay be required. See refer-ences to these proceduresin the step-by-step instruc-tions below.Continues on next page3HAC033453-001 Revision: H 87© Copyright 2009-2013 ABB. All rights reserved.2 Installation and commissioning2.4.2 Mechanically restricting the working range of axis 1
