ABB IRB 14000 - Limit Avoidance Distance

5.3.6 Limit avoidance distance
Parent
Limit avoidance distance belongs to the type Robot, in the topic Motion.
Cfg name
limit_avoidance_distance
Description
Limit avoidance distance controls the distance to the nearest singularity or joint
limit when automatically adjusting the arm-angle.
Usage
The singularities that can be handled are where axis 2 or axis 5 is equal to zero.
Allowed values
A value between -1 to 100 radians.
The default value is 0.017453 radians.
Setting a negative value will disable the functionality.
Related information
Operating manual - IRB 14000
Operating manual - IRB 14000 65
3HAC052986-001 Revision: E
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5 System parameters
5.3.6 Limit avoidance distance