Increase Axis joint limit

Robot Controller
1

Hi to all,

I am looking for how to increase axis joint limit for an IRB 6400 just for the first one axis which reaches ±170 degrees acording to the datasheet. However if I move the toggle that stops it physically to one outer side, it looks like with lot of room still available to rotate.. I know the software motion parameters called Upper and Lower joint bound, but if I modify the upper one to 2 degrees more (in radians) it does not reach more than the default 170 limit. Is there anything I can do to rotate little bit more than 170?.

Cheers,
Manuel.

2

Hi,

It is not a good idea to increase axis because of the load on the robot and better margins on gearboxes and it is also extremly important that the loads are correctly defined.