3.4.3 Extended working range, axis 1 (option)
Overview
The working range of axis 1 can be extended on a floor-mounted robot, from the
default range limited by mechanical stops. The working range can be extended to
±220°.
CAUTION
The option Extended work range enables an extension of the working range for
axis 1, through a software configuration. With this option installed, the working
range can exceed the range limited by the mechanical stop on axis 1. The working
range shall be limited through the option SafeMove.
A risk analysis must be done to ensure that no risks remain when using option
Extended work range, to limit the working range, and before removing the
mechanical stops.
For information about the option SafeMove, see Application manual - Functional
safety and SafeMove.
If the mechanical stop is removed, then the manipulator should have a marking
for this, for example, a label. If the robot is delivered with the option Extended
work range, then such a label is included on delivery.
Extending the working range
Note/IllustrationAction
Configure the safety setup and verify it by
test.
1
xx2100001410
Hold the mechanical stop pin in a firm grip,
and remove it by unscrewing the attach-
ment screw.
2
With the option Extended working range,
the maximum value for the system paramet-
ers Upper Joint Bound and Lower Joint
Bound is 3.84 respectively -3.84. The val-
ues are in radians, that is 3.84 radians =
220 degrees.
In RobotWare, redefine the working range
limitations in the system parameters, topic
Motion. The Arm parameters Upper Joint
Bound and Lower Joint Bound can be
changed to the values corresponding to
the actual installation.
3
Related information
The system parameters are described in detail in the reference manual, see
References on page 10.
Continues on next page
Product manual - IRB 5720 95
3HAC079195-001 Revision: A
© Copyright 2022 ABB. All rights reserved.
3 Installation and commissioning
3.4.3 Extended working range, axis 1 (option)
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