ABB OmniCore IRB 6720 Product Manual

3.4 Working range alterations3.4.1 Adjusting the working rangeReasons for adjusting the manipulator working rangeThe working range of each manipulator axis is configured in the software. If thereis a risk that the manipulator may collide with other objects at installation site, itsworking space should be limited. The manipulator must always be able to movefreely within its entire working space.Working range configurationsThe parameter values for the axes working range can be altered within the allowedworking range and according to available options for the robot, either to limit or toextend a default working range. Allowed working ranges and available options foreach manipulator axis are specified in Working range on page 51.Mechanical stops on the manipulatorMechanical stops are and can be installed on the manipulator as limiting devicesto ensure that the manipulator axis does not exceed the working range values setin the software parameters.NoteThe mechanical stops are only installed as safety precaution to physically stopthe robot from exceeding the working range set. A collision with a mechanicalstop always requires actions for repair and troubleshooting.Movable mechanical stop iiFixed mechanical stop iAxisyesThe working range can be reducedby altering the parameter values. In-stallation of additional mechanicalstops is recommended. See In-stalling movable mechanical stopson axis 1 (option 3323-1) on page 92.The working range can be extended(option 3324-1) by altering the para-meter values and removing themovable mechanical stop pin.yesAxis 1noyesAxis 2noyesAxis 3nonoAxis 4noyesAxis 5nonoAxis 6i Part of the casting or fixed on the casting and can not /should not be removed.ii Can be installed in one or more than one position, to ensure a reduced working range, or be removedto allow extended working range.Product manual - IRB 6720 913HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.3 Installation and commissioning3.4.1 Adjusting the working range