# Increase Axis joint limit

**URL:** <https://tech-community.robotics.abb.com/t/increase-axis-joint-limit/7727>\
**Category:** Robot Controller\
**Created:** [May 17, 2017, 8:38am UTC](https://tech-community.robotics.abb.com/t/increase-axis-joint-limit/7727 "2017-05-17T08:38:56Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![MNeuer](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/mneuer/32/3240_2.png) [@MNeuer](https://tech-community.robotics.abb.com/u/MNeuer)\
**Post date:** [May 17, 2017, 8:38am UTC](https://tech-community.robotics.abb.com/t/increase-axis-joint-limit/7727/1 "2017-05-17T08:38:56Z")

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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.

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**Author:** ![Adnan](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@Adnan](https://tech-community.robotics.abb.com/u/Adnan)\
**Post date:** [May 31, 2017, 10:24am UTC](https://tech-community.robotics.abb.com/t/increase-axis-joint-limit/7727/2 "2017-05-31T10:24:38Z")

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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.