center point). This value cannot be measured or calculated by the user since the
underlying mathematical calculations are far more complex.
xx1600001072
Note
If necessary the arm-angle will be adjusted automatically during run time in order
to avoid singularities and joint limits. The desired distance can be adjusted with
the system parameter Limit avoidance distance, see Limit avoidance distance
on page 65.
Coordinated programming using MultiMove
The IRB 14000 robot is pre-installed with the RobotWare option MultiMove
coordinated, which makes it possible to program the two arms in coordinated mode.
For more information about MultiMove and coordinated jogging, see Application
manual - MultiMove.
Tip
Use the MultiMove wizard in RobotStudio when setting up and programming
MultiMove.
Configuration data
When programming linear movements it is important that the programmed positions
have similar configurations, otherwise it will not be possible to move linearly
between the positions.
This is important when programming all robots, but especially when programming
7-axis robots, since the arm mode adds more complexity.
Continues on next page
Operating manual - IRB 14000 43
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
3 Using the IRB 14000
3.7 Programming and testing
Continued
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