2.7.3 Setting upper and lower software limits for the track
Introduction
The upper and lower software limits of the track are software limits that prevent
the track from being jogged beyond the mechanical limit of the track. They are the
physical displacement distance from the zero position to the limit position in meters.
This depends on the length of the track, and the location of the calibration pin (also
referred to as the zero position of the track).
The limits are defined in the system parameters, in the topic Motion, type Arm. The
upper limit is called Upper Joint Bound, and the lower limit is called Lower Joint
Bound. Both are expressed in meters.
In the following example, the upper limit is set to 5.8 m and the lower limit is set
to -0.5 m.
ARM : -upper_joint_bound 5.8 -lower_joint_bound -0.5
Example
The following screenshot shows an example of the error message that is generated
when the track is jogged beyond its software limit.
xx1400001913
Changing the limits
WARNING
This is an important safety feature to prevent damage to the track. Make sure
that the track direction has first been set and the track has been calibrated before
performing this step, see Fine calibration on page 264.
Use this procedure to change the limits using the FlexPendant.
NoteAction
From the ABB menu, tap Control Panel.1
Tap Configuration.2
Continues on next page
126 Product manual - IRBT 2005
3HAC051130-001 Revision: F
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2 Installation and commissioning
2.7.3 Setting upper and lower software limits for the track
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