ABB OmniCore IRB 6720 Product Manual

3.4.3 Extended working range, axis 1 (option)OverviewThe working range of axis 1 can be extended on a floor-mounted robot, from thedefault range limited by mechanical stops. The working range can be extended to±220°.CAUTIONThe option Extended work range enables an extension of the working range foraxis 1, through a software configuration. With this option installed, the workingrange can exceed the range limited by the mechanical stop on axis 1. The workingrange shall be limited through the option SafeMove.A risk analysis must be done to ensure that no risks remain when using optionExtended work range, to limit the working range, and before removing themechanical stops.For information about the option SafeMove, see Application manual - Functionalsafety and SafeMove.If the mechanical stop is removed, then the manipulator should have a markingfor this, for example, a label. If the robot is delivered with the option Extendedwork range, then such a label is included on delivery.Extending the working rangeNote/IllustrationActionConfigure the safety setup and verify it bytest.1xx2200001398Hold the mechanical stop pin in a firm grip,and remove it by unscrewing the attach-ment screw.2Continues on next pageProduct manual - IRB 6720 953HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.3 Installation and commissioning3.4.3 Extended working range, axis 1 (option)