If I set in the configuration of my IRB6640 the upper join bound to 3.14 and the lower joint bound to -3.14, and after restart I try to jog, I can only jog ±170°.
The mechanical stops are removed, so there is no mechanical limit.
Are there other setting to be done to turn axis 1 ±180°?
Open the Moc.cfg with ultraedit or wordpad.
Then change upper joint bound max / lower joint bound max as well.
gr,
Hi Simotion,
Isn’t the actual real max ±170 for that robot??
Let’s look in the data sheet
Industrial Robots
6640
http://www.abb.com/product/seitp327/df458c1c0223a1aec1257363006dd9b3.aspx
Jupp:
"
Axis 1 Rotation +170° to - 170°"
I think I covered some of this in earlier topics…
Goes searching
Jupp found this:
http://forums.robotstudio.com/discussion/comment/20525#Comment_20525
http://forums.robotstudio.com/discussion/comment/22053#Comment_22053
Wouldn’t 3.14 be 179.9 degrees? I think if you look in the examples in the link RAPID use 8 digits to their radiants so it would be [3.1415901] as 180 degrees.