ABB IRB 6710 - Page 90

Note/IllustrationAction
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.
For more information about SafeMove, see Application manual - Functional safety
and SafeMove.
90 Product manual - IRB 6710
3HAC085695-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
3 Installation and commissioning
3.4.3 Extended working range, axis 1 (option)
Continued