5 Installation and Commissioning 5.

5 Installation and Commissioning

5.8 Working Area Limitations
5.8.1 Axis 1 Limitation
General
The maximum working area for axis 1, base unit rotation, is depending on the
manipulator configuration, as shown in’Manipulator Specifications’ on page 37.

The limiting procedure is identical for all manipulator configurations, the procedure
is illustrated with manipulator configuration A.

Figure 43 Working area limitation axis 1, top view

Stop device on
rotating baseunit
Maximum rotation
+25°
Base unitin
center position Stop stud on foot unit
Maximum rotation
-115°
Stop device on
rotating base unit
Foot unit Base unit
Procedure
The robot axis 1 is equipped with a fixed stop stud that is positioned at the centerrear on the foot unit. The base unit is equipped with 2 adjustable stop studs. By
positioning these studs, the working area can be limited according to requirement.

The rotation angles in +/- directions refer to the arm pointing straight forwards, asshown in the side view working area drawing, see’Working Area Drawings’ onpage 50. When installing the stoppers, the area must be kept within the maximum
limits stated above in each direction. The arm must under no circumstances bepermitted to move beyond the maximum limits due to the cable layout in the base.

The working range can be set in increments of 18 degrees.


CAUTION!The stop studs must be installed within a position which limits the
rotation to the maximum working area as shown in Figure 43. Incorrect positioning
of the stud(s) or moving the manipulator armwithout the studs installed MAY
CAUSE SERIOUS DAMAGE to the cable layout inside the manipulator base.

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5 Installationand Commissioning

5.8 Working Area Limitations
5.8.2 Axis 2 Limitation
General
The maximum working area of axis 2, axis 2 armrotation, is +150° --65°.

Figure 44 Working area limitation axis 2, axis 2 arm front view

Axis 2 arm
in centerposition
Stop device on
rotating axis 2 arm
Maximum rotation
-65°
Base unit
Stop stud on base unit
+150°
Maximum rotation
Procedure
The robot axis 2 is equipped with a fixed stop stud that is positioned at the centerfront on the base unit. The axis 2 arm is equipped with a stop device. The working
area can only be limited with softwarelimits.

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5 Installation and Commissioning

5.8 Working Area Limitations
5.8.3 Axis 3 Limitation
General
Themaximum working area of axis 3, axis 3 armrotation, is ±70°.

Figure 45 Working area limitation axis 3, axis 2- and axis 3 arm front view

Stop device on

Axis 2 arm
Maximum rotation
+70°
Axis 3arm
in center position
Maximum rotation
-70°
rotating axis 3 arm

Stop stud on axis 2 arm

Stop device on
rotating axis 3 arm

Procedure
The robot axis 3 is equipped with a fixed stop stud that is positioned at the centerrear on the axis 2 arm. The axis 3 arm is equipped with two stop devices. The
working area can only be limited with software limits.

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5 Installation and Commissioning
5.8 Working Area Limitations
84 3HNA015911-001 en Rev.10 Product manual, IRB 5500
5.8.4 Elbow Joint Limitation
General The following sections provide information for enabling cartesian boundaries for a
defined arm check point. This limitation is typically used for the elbow joint,
formed by the vertical and horizontal axes, to avoid collision with external
equipment, e.g. the spray booth wall.
WARNING! For safety reasons, this software shall not be used for protection of
personnel. Use hardware protection equipment for that.
General Principle By defining the cartesian boundaries, a ‘box’ is formed. The defined arm check
point is restricted to operate inside this ‘box’. If the check point is moved outside,
either by the operator or by a program, the control system will stop the robot and
issues an error message.
If the arm check point is outside the defined ‘box’, only movements towards the
legal area are permitted. Otherwise, the control system will issue an error message,
and the robot will stop.
There is a risk, although very small, that the arm check point under certain
circumstances can move outside of its ‘box’ in a setup with conveyor tracking.
The robot control system will also monitor the speed of the check point so that it
does not exceed 250 mm/s in Manual Reduced Speed mode ( ).
The check point can be a point on the arm itself, or at an external unit attached to the
arm etc.
A graphical description of the principle is shown in the illustration below.
Figure 46 Arm check point limitation
max
min
min
max
min
Y
Z
X
Elbow joint
Arm check point

5 Installation and Commissioning

5.8 Working Area Limitations
Defining Check Point Setting this function is performed in 2 steps; First, the location of the check pointand Cartesian

must be established, and then the cartesian boundaries for the ‘box’ mustbe entered.

Boundaries

1. Enter Check Point and Activate Function.
For information on how to enter the location of the check point and to activatethe function, see ‘Technical Reference Manual, System Parameters‘, TopicMotion / Workflows / How to define arm check point.

2. Enter Cartesian Coordinates
Each of the 6 boundaries defines a plane in space, and together they form a

cartesian volume, a ‘box’.

Note: By default, the check point boundaries (cp bound) are zero, and the

control system will not monitor the position of the defined armcheck point.

Select the desired parameter as shown below and change its value. See
Figure 46 for information on x,y,z axes etc. The values are entered in meters
[m].

Parameter Description
Upper cp bound x Xmax
Upper cp bound y Ymax
Upper cp bound z Zmax
Lower cp bound x Xmin
Lower cp bound y Ymin
Lower cp bound z Zmin
Perform following operation on the pendant:

1. Choose Topics:Manipulator.
2. Choose Types:Robot.
3. Select desired parameter.
4. Press OK to confirm.
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5 Installationand Commissioning

5.9 Electronic Position Switches EPS
5.9 Electronic Position Switches EPS
Introduction
For information on configuring EPS, see ‘Application manual, Electronic Position
Switches’.

If themanipulatorhas not beenmounted on an absolutely solid construction, thefastacceleration during a painting program, might cause the construction to vibrate. Toprevent the construction from vibration, the following two options are available:

1. The acceleration of the manipulator can be reduced by the instruction ‘AccSet’.
This results in a longer cycle time. In addition, the number of allocation objects
need to be increased with parameter ‘extended_dec_dist’, as described in‘Technical reference manual, Systemparameters’, Topic Motion / Type Motion
Planner / Use additional interp. object batch.
2. The motion function ‘Soft Servo’ can be used. This results in a less accuratemotion performance.
If EPS is used in combination with the motion function ‘Soft Servo’, additionalconfiguration of EPS is required, as described in the following.

Operational Safety
Range

When the motion function ‘Soft Servo’ is used in a program, EPS must beconfigured for use of ‘Soft Servo’.

This is configured under Operational Safety Range in the EPS wizard. Refer to‘Application manual, Electronic Position Switches’ / Configuration / EPSConfiguration Wizard / Configure the Operational Safety Range.

–
Select the option ‘Soft Servo (Enable OSR)’.
The shown default values of the robot must be updated to more accurate values. Ifnot, the EPS may lose synchronization.

The parameters need to be updated as follows:

–
The axisrange:Set value of the axis range where the servo lag exceeds the limitsfor the Control ErrorSupervision.
–
The tolerance value: Set value greater than max. ‘Servo Lag’ value.
‘Soft Servo’ willgenerate an increased ‘Servo Lag’. It is therefore important thatthe tolerance value is set to a greater value than the maximum ‘Servo Lag’ value.

Increase the tolerance valuein the whole axis range until the Control Error
Supervision does not trip anymore.

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5 Installation and Commissioning

5.10 Concluding Activities
5.10 Concluding Activities
Description
The manipulator can be installed to operate under many different environmental
conditions and performing different type of operations. Some of these environmentsandoperationsmay include use offluids which can be damaging to the manipulator
or parts of it.

It is for this reason strongly recommended that the manipulator, arm and wrist are
protected as required by applying grease filmor other means to avoid damages suchas corrosion of the wrist, solvent entering into the wrist or arm etc. Use of plastic
protection should be avoided.

For more information on this subject, see chapter ’Preventive Maintenance’ onpage 97.

Product manual, IRB 5500
3HNA015911-001 en Rev.10


5 Installationand Commissioning

5.11 Mechanical Dismounting of Manipulator
5.11 Mechanical Dismounting of Manipulator
General
The mechanical dismounting procedure is depending on the configuration of the
manipulator:

’Mechanical Dismounting of Manipulator Configuration A/B’ on page 89
’Mechanical Dismounting of Manipulator Vertical Configuration A/B’ on page 91

3HNA015911-001 en Rev.10
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5 Installation and Commissioning

5.11 Mechanical Dismounting of Manipulator
5.11.1 MechanicalDismounting of ManipulatorConfiguration A/B
Procedure
This section describes the mechanical dismounting of the manipulator. The
procedure may be required for performing possible repair procedures in the future.
The manipulator is lifted by using a lifting device installed on the manipulator and
an overhead crane or similar l

結果 (中文) 1:

5 安装和调试5.8 工作区域限制5.8.1 轴 1 限制一般取决于轴 1，底座旋转的最大工作区机械手配置，如图所示的 in'Manipulator 规格的第 37 页。极限的过程是相同的机械手的所有配置，程序用机械手配置 A.说明图 43 工作区域限制轴 1，顶视图停止设备上旋转 baseunit最大旋转+ 25 °基础单位中心位置停止螺柱上脚单位最大旋转-115 °停止设备上旋转的基本单位脚单位基本单位程序机器人轴 1 配备固定的站螺柱，位于 centerrear 上脚单位。基本单元配备 2 可调停螺柱。通过定位这些螺柱，工作区可以根据要求限制。在 + /-方向的旋转角度是指手臂指向直批转，已经吊绘图，see'Working 地区图纸 onpage 50 侧视图工作区中。安装时塞子，地区必须保持在最大值如上文所述在每个方向的限制。手臂必须下没有情况下 bepermitted 超越由于电缆敷设在基地的最大限制。工作范围可以设置为 18 度的增量。小心!停止螺柱必须安装内位置的限制旋转到最大的工作区，如图 43 所示。不正确定位stud(s) 或移动机械手 armwithout 螺柱安装可能给机械手基地内的电缆布局造成严重损害。产品使用说明书，IRB 55003HNA015911-001 en Rev.105 架设调试5.8 工作区域限制5.8.2 轴 2 限制一般最大工作轴 2，轴 2 armrotation 面积 + 150 °--65 °。图 44 工作区域限制轴 2，轴 2 臂前视图2 轴臂在 centerposition停止设备上旋转轴 2 手臂最大旋转-65 °基本单位停止上基本单位的螺柱+ 150 °最大旋转程序机器人轴 2 配备固定的站螺柱，位于 centerfront 上的基本单位。2 轴臂被装有制动装置。工作地区也只能有限与 softwarelimits。3HNA015911-001 en Rev.10产品使用说明书，IRB 55005 安装和调试5.8 工作区域限制5.8.3 轴 3 限制一般最大工作轴 3，轴 3 armrotation，面积 ±70 °。图 45 工作区域限制轴 3，轴 2-和 3 轴臂前视图停止设备上2 轴臂最大旋转+ 70 °轴 3arm在中心位置最大旋转-70 °旋转轴 3 臂2 轴手臂上停止螺柱停止设备上旋转轴 3 臂程序The robot axis 3 is equipped with a fixed stop stud that is positioned at the centerrear on the axis 2 arm. The axis 3 arm is equipped with two stop devices. The working area can only be limited with software limits. Product manual, IRB 5500 3HNA015911-001 en Rev.10 5 Installation and Commissioning 5.8 Working Area Limitations 84 3HNA015911-001 en Rev.10 Product manual, IRB 5500 5.8.4 Elbow Joint Limitation General The following sections provide information for enabling cartesian boundaries for a defined arm check point. This limitation is typically used for the elbow joint, formed by the vertical and horizontal axes, to avoid collision with external equipment, e.g. the spray booth wall. WARNING! For safety reasons, this software shall not be used for protection of personnel. Use hardware protection equipment for that. General Principle By defining the cartesian boundaries, a ‘box’ is formed. The defined arm check point is restricted to operate inside this ‘box’. If the check point is moved outside, either by the operator or by a program, the control system will stop the robot and issues an error message. If the arm check point is outside the defined ‘box’, only movements towards the legal area are permitted. Otherwise, the control system will issue an error message, and the robot will stop. There is a risk, although very small, that the arm check point under certain circumstances can move outside of its ‘box’ in a setup with conveyor tracking. The robot control system will also monitor the speed of the check point so that it does not exceed 250 mm/s in Manual Reduced Speed mode ( ). The check point can be a point on the arm itself, or at an external unit attached to the arm etc. A graphical description of the principle is shown in the illustration below. Figure 46 Arm check point limitation max min min max min Y Z X Elbow joint Arm check point5 Installation and Commissioning 5.8 Working Area Limitations Defining Check Point Setting this function is performed in 2 steps; First, the location of the check pointand Cartesianmust be established, and then the cartesian boundaries for the ‘box’ mustbe entered. Boundaries 1. Enter Check Point and Activate Function. For information on how to enter the location of the check point and to activatethe function, see ‘Technical Reference Manual, System Parameters‘, TopicMotion / Workflows / How to define arm check point. 2. Enter Cartesian Coordinates Each of the 6 boundaries defines a plane in space, and together they form a cartesian volume, a ‘box’. Note: By default, the check point boundaries (cp bound) are zero, and thecontrol system will not monitor the position of the defined armcheck point. Select the desired parameter as shown below and change its value. See Figure 46 for information on x,y,z axes etc. The values are entered in meters [m]. Parameter Description Upper cp bound x Xmax Upper cp bound y Ymax Upper cp bound z Zmax Lower cp bound x Xmin Lower cp bound y Ymin Lower cp bound z Zmin Perform following operation on the pendant: 1. Choose Topics:Manipulator. 2. Choose Types:Robot. 3. Select desired parameter. 4. Press OK to confirm. Product manual, IRB 5500 3HNA015911-001 en Rev.10 5 Installationand Commissioning 5.9 Electronic Position Switches EPS 5.9 Electronic Position Switches EPS Introduction For information on configuring EPS, see ‘Application manual, Electronic Position Switches’.If themanipulatorhas not beenmounted on an absolutely solid construction, thefastacceleration during a painting program, might cause the construction to vibrate. Toprevent the construction from vibration, the following two options are available: 1. The acceleration of the manipulator can be reduced by the instruction ‘AccSet’.This results in a longer cycle time. In addition, the number of allocation objects need to be increased with parameter ‘extended_dec_dist’, as described in‘Technical reference manual, Systemparameters’, Topic Motion / Type Motion Planner / Use additional interp. object batch. 2. The motion function ‘Soft Servo’ can be used. This results in a less accuratemotion performance.If EPS is used in combination with the motion function ‘Soft Servo’, additionalconfiguration of EPS is required, as described in the following. 操作安全范围当在程序中使用时运动功能 '软伺服' 时，EPS 必须使用软伺服功能。这在 EPS 向导配置下业务安全范围。请参阅 to'Application 手册，电子的位置开关 / 配置 / EPSConfiguration 向导 / 配置业务安全范围。–选择选项软伺服 (启用 OSR)'。机器人的默认显示的值必须更新到更精确的数值。如果不是，EPS 可能会失去同步。参数需要更新，如下所示:–Axisrange:Set 在哪里伺服滞后超过办案控制 ErrorSupervision 的轴范围的值。–公差值: 将值设置为大于最大值。伺服滞后值。'软伺服' willgenerate 增加的伺服滞后。因此，至关重要的是，公差值设置为值大于最大的伺服滞后值。公差值的整个轴范围增加直到控制错误监督不会再越过。3HNA015911-001 en Rev.10产品使用说明书，IRB 55005 安装和调试5.10 结束活动5.10 结束活动描述机械手可以安装在许多不同的操作环境条件和执行不同类型的操作。一些这些 environmentsandoperationsmay 包括使用保持它可以有害的对机械手or parts of it.

It is for this reason strongly recommended that the manipulator, arm and wrist are
protected as required by applying grease filmor other means to avoid damages suchas corrosion of the wrist, solvent entering into the wrist or arm etc. Use of plastic
protection should be avoided.

For more information on this subject, see chapter ’Preventive Maintenance’ onpage 97.

Product manual, IRB 5500
3HNA015911-001 en Rev.10


5 Installationand Commissioning

5.11 Mechanical Dismounting of Manipulator
5.11 Mechanical Dismounting of Manipulator
General
The mechanical dismounting procedure is depending on the configuration of the
manipulator:

’Mechanical Dismounting of Manipulator Configuration A/B’ on page 89
’Mechanical Dismounting of Manipulator Vertical Configuration A/B’ on page 91

3HNA015911-001 en Rev.10
Product manual, IRB 5500


5 Installation and Commissioning

5.11 Mechanical Dismounting of Manipulator
5.11.1 MechanicalDismounting of ManipulatorConfiguration A/B
Procedure
This section describes the mechanical dismounting of the manipulator. The
procedure may be required for performing possible repair procedures in the future.
The manipulator is lifted by using a lifting device installed on the manipulator and
an overhead crane or similar l

結果 (中文) 3:

5安装和调试

5.8工作区域的局限性
5.8.1轴1的限制
一般
最大工作面积为1轴，基本单元的旋转，是靠
机械手的配置，如图所示in'manipulator规格37页。的限制程序是相同的所有机械手的配置，该程序的是示出与机械手配置A。图43工作区域限制轴1，俯视

停止装置的基本单元
旋转
最大旋转
25°
基地单位
中心位置停止研究足单元
最大旋转
- 115°
停止装置
旋转基座单元
英尺单位基本单位
程序
机器人1轴配置有一个固定的停车柱位于centerrear脚上单元。底座单元配有2个可调的止动螺杆。这些螺柱的定位，可根据需要的工作区域进行限制。

旋转角度/方向参考臂伸直向前，如图所示，在侧视图工作区图，see'working面积图50页。安装塞子时，该地区必须保持在最大
每一个方向的限制。手臂绝不允许超越最大限度由于在基地的电缆布局。工作范围可设定为18度的增量。的警告！必须将止挡螺柱安装在一个位置，它限制了最大工作区的旋转，如图43所示。错误定位螺柱的（S）或移动机械手armwithout螺柱安装在机械手的原因可能
基地布局严重损坏电缆。

产品手册，IRB 5500
3hna015911-001 EN rev.10


5安装调试

5.8工作区域的局限性
5.8.2轴2的限制
一般
最大工作面积的2轴，2轴armrotation，150——65°°。

图44工作区域限制轴2，轴2臂前视图

轴2臂
在中心位置
停止装置
旋转轴2臂
最大旋转
- 65°
基地单元
停止研究的基本单位
150°
最大旋转
程序
机器人轴2上设有固定阻止螺栓位于centerfront的基本单位。轴2臂设有止动装置。工作的区域只能局限softwarelimits。

3hna015911-001 EN rev.10
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5安装和调试

5.8工作区域的局限性
5.8.3轴3的限制
一般
最大工作面积的3轴，3轴armrotation，是±70°。

图45工作区域限制轴3，轴2和轴3臂前视图

停止装置

轴2臂
最大旋转
70°
在ARM
轴中心位置
最大旋转
- 70°
旋转轴3臂

阻止螺栓轴上2臂

停止装置
旋转轴3臂

程序
机器人轴3上设有固定停车柱位于centerrear轴上2臂。轴3臂设有2个停止装置。工作区仅限软件限制。

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5安装和调试
5.8工作区域的局限性
84 3hna015911-001 EN rev.10产品手册，IRB 5500
5.8.4肘关节限制
一般以下部分为
定义臂检查点使直角边界提供信息。这种限制是典型的肘关节，由垂直和水平轴形成的，为了避免与外部设备的碰撞，例如喷漆室壁。警告！出于安全原因，本软件不得用于保护人员。使用硬件保护设备。通过定义笛卡尔边界的一般原理，形成一个“盒子”。所定义的手臂检查点被限制在这个“盒子”内操作。如果检查点移动到外部，由操作员或由一个程序，控制系统将停止的机器人和，问题的错误信息。如果手臂检查点是在限定的“盒子”外，只允许移动到的。否则，控制系统会发出错误信息，并且机器人将停止。有一个风险，虽然很小，但手臂检查点根据一定的情况可以移动到它的'盒子'的安装与传送跟踪。机器人控制系统也将监测的检查点的速度，使其不超过250毫米/秒，手动降低速度模式（）。检查点可以是手臂上的一个点，或在一个外部的单位连接到的手臂等。下图说明了该原理的图形化描述。
图46臂检查点的限制
最大
min
min
最大
min
Y
Z
X
肘关节
臂检查点

5安装和调试

5.8工作区域的局限性
定义检查点设置此功能进行2个步骤；第一，检查点的直角

位置必须建立，然后对“盒子”是直角边界进入。疆界界线1。输入检查点和激活功能。
信息如何进入检查点的位置和激活功能，看到的技术参考手册，系统参数，topicmotion /流程/如何定义臂检查点。2。进入直角坐标系6个边界中的每一个定义在空间中的平面，并且它们一起构成一个直角坐标量，一个“盒子”。

注：默认情况下，检查点的边界（CP绑定）是零，和

控制系统不会监控位置的定义armcheck点。如下图所示，选择所需的参数，并更改其值。关于×、y、z等信息，参见图46。这些值是以米计。

参数描述
上CP绑定X Xmax
上CP绑定Y YMAX
上CP绑定Z ZMAX
低CP绑定X xmin
低CP绑定Y Ymin
低CP绑定Z零点
执行以下操作：1

吊坠。选择题目：机械手。2。选择类型：机器人。3。选择所需参数。4。按确定确认。产品手册，IRB 5500 3hna015911-001 EN rev.10


5安装调试

5.9电子位置开关EPS
5.9电子位置开关EPS
介绍
信息配置的EPS，看到的应用手册，电子位置
开关。

如果themanipulatorhas不beenmounted在绝对坚固的建筑，绘画程序中thefastacceleration，可能引起施工振动。防止施工振动，下面的两个选项可供选择：

1。机械手的加速度可以通过指令的accset的减少。
这个结果在一个较长的周期时间。此外，
配置对象的数量需要与参数extended_dec_dist增加”，如in'technical参考手册，系统参数，主题运动/运动
计划/使用额外的解释。对象批。2。运动功能的软伺服可以使用。这样的结果是更少的运动性能。
如果EPS采用的是与运动功能的软伺服组合，additionalconfiguration EPS是必需的，如下面的描述。

操作安全
范围

当运动功能的软伺服”使用的一个程序，EPS必须配置为使用“软伺服。这是配置在操作安全范围内的每股收益向导。to'application参考手册，电子位置开关/配置/ epsconfiguration向导/配置操作安全范围。

–
选择选项“软伺服（使OSR）”。显示机器人的默认值必须更新到更精确的值。如果没有，EPS可能失去同步。

参数需要更新如下：

–
的axisrange：轴的范围在伺服滞后超过限值的控制errorsupervision设定值。的公差值：设定值大于最大值。伺服滞后值。
软伺服的产生增加伺服滞后。因此，它是重要的公差值被设置为一个更大的值比最大的伺服滞后值。

增加公差值整个轴范围直到控制误差
监督不旅行了。

3hna015911-001 EN rev.10
产品手册，IRB 5500


5安装和调试