ABB IRBT 2005 - Page 127

NoteAction
Under Topics, tap Motion.3
Select Arm.4
Select the mechanical unit.5
Change the values for the parameters Upper
joint bound and Lower Joint bound.
6
Tap OK to save the change and then restart
the controller.
7
Examples of correct values for the software limits
The following tables show configuration values for Upper Joint Bound and Lower
Joint Bound for a number of different configurations
Single robot carriage and signal transfer carriage
Lower Joint
Bound (m)
Upper Joint
Bound (m)
Travel L (m)ModulesTrack L (mm)
-0.50.350.8522230
-0.51.351.8533230
-0.52.352.8544230
-0.53.353.8555230
-0.54.354.8566230
-0.55.355.8577230
-0.56.356.8588230
-0.57.357.8599230
-0.58.358.851010230
-0.59.359.851111230
-0.510.3510.851212230
-0.511.3511.851313230
-0.512.3512.851414230
-0.513.3513.851515230
-0.514.3514.851616230
-0.515.3515.851717230
-0.516.3516.851818230
-0.517.3517.851919230
-0.518.3518.852020230
-0.519.3519.852121230
Single robot carriage with extra plate
Lower Joint
Bound (m)
Upper Joint
Bound (m)
Travel L (m)ModulesTotal L (mm)
-0.341.351.6944230
-0.342.352.6955230
Continues on next page
Product manual - IRBT 2005 127
3HAC051130-001 Revision: F
© Copyright 2015 - 2018 ABB. All rights reserved.
2 Installation and commissioning
2.7.3 Setting upper and lower software limits for the track
Continued