ABB IRB6400 Assembly Manuallines

Also see for IRB6400: Electrical troubleshooting manual

Contents

ABB IRB6400 Assembly Manuallines Manual pdf 33 page image

Disassembly/AssemblyGuidelinesIRB 6400Robot HandlingPage 3- 6RESTRICTING AXES MOVEMENT MECHANICALL YWhen installing the manipulator, make sure that it can move freely within its e n-tire working space. If there is a risk that it may collide with other objects, itsworking space should be limited, both mechanically and using software. Insta l-lation of an optional extra stop for the main axes 1, 2 and 3 is described belo w.Limiting the working space using software is described in the System Para m-eters in the User’s Guide.Axis 1The range of rotation for axis 1 can be limited mechanically by fitting extra m e-chanical stop arms (3HAB 4224-001). Instructions for doing this are suppliedwith the kit.CAUTION: THE MECHANICAL STOP PIN AND THE EXTRA MOV-ABLE MECHANICAL STOP ARM FOR AXIS 1 BE REPLACED AF-TER ANY HARD COLLISION TYPE STOP, IF THE PIN OR ARMHAS BEEN BENT OR DAMAGED IN ANY WAY.Axes 2 and 3The working range of axes 2 and 3 is limited by mechanically stops and can bereduced by adding fixed mechanical stops (3HAB 4087-001). The stops aremounted on the inside of the frame to each axis. Extra stops must be mountedin a row, with starting-point from the fixed stop .Figure 8 Mechanically limiting axes 2 and 3.Holes for extra stop sFOR AXES 1-3 IS 3HAB 4225-001.MECHANICAL STOPS PART NUMBERC