2 Installation and commissioning
2.6.2. Mechanically restricting the working range of axis 1
3HAC027151-001 Revision: B86
© Copyright 2006-2008 ABB. All rights reserved.
3.
NOTE!
To utilize the option 561-1 "Extended working
range axis 1" the software working range
limitations must be re-defined. The motion
configuration parameter "arm/rob1_1/Upper
Joint Bound" and "arm/rob1_1/Lower Joint
Bound" must be changed to 3.84 resp. -3.84.
The values are in radians that is 220 deg. =
3.84 rad.
The system parameters that must be
changed in RobotWare 5.0 (Upper joint
bound and Lower joint bound) are further
detailed in Technical reference manual -
System parameters.
4.
WARNING!
If the mechanical stop is deformed after a
hard collision, it must be replaced!
Action Note
Continued
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