# "Out of coupled range" error - IRB5510

**URL:** <https://tech-community.robotics.abb.com/t/out-of-coupled-range-error-irb5510/10277>\
**Category:** RAPID Programming\
**Created:** [July 5, 2021, 8:01am UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range-error-irb5510/10277 "2021-07-05T08:01:33Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![egor](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/egor/32/2735_2.png) [@egor](https://tech-community.robotics.abb.com/u/egor)\
**Post date:** [July 5, 2021, 8:01am UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range-error-irb5510/10277/1 "2021-07-05T08:01:33Z")

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Hi, can anyone tell me what causes this error?

I do not understand whether it is related to the movement near the singular position? How to avoid it?

 ![error.PNG.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/7284afd74116a334de53610ba8c5549af2f6dafa.jpeg)

 ![error.PNG.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/7284afd74116a334de53610ba8c5549af2f6dafa.jpeg)

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**Author:** ![xerim](https://avatars.discourse-cdn.com/v4/letter/x/2bfe46/32.png) [@xerim](https://tech-community.robotics.abb.com/u/xerim)\
**Post date:** [July 12, 2021, 12:12pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range-error-irb5510/10277/2 "2021-07-12T12:12:59Z")

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On this model of robot axis 4 and 6 are “coupled” meaning they are linked together to provide more stiffness for higher payloads. Unfortunately, this limits the reach of the robot. I would contact ABB about editing your MOC.cfg file to “uncouple” the joints without voiding the warranty.

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**Author:** ![egor](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/egor/32/2735_2.png) [@egor](https://tech-community.robotics.abb.com/u/egor)\
**Post date:** [July 16, 2021, 11:45am UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range-error-irb5510/10277/3 "2021-07-16T11:45:07Z")

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> [@xerim](#):
>
> I would contact ABB about editing your MOC.cfg file to “uncouple” the joints without voiding the warranty.

Is it possible to “uncouple” these joints? This might solve my problems, including the occurrence of a singularity from time to time.

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**Author:** ![xerim](https://avatars.discourse-cdn.com/v4/letter/x/2bfe46/32.png) [@xerim](https://tech-community.robotics.abb.com/u/xerim)\
**Post date:** [July 16, 2021, 11:58am UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range-error-irb5510/10277/4 "2021-07-16T11:58:12Z")

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Yes, by editing your MOC.cfg file. But please contact ABB before you do this as it could potentially void your warranty