# Out of coupled range

**URL:** <https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133>\
**Category:** Robot Controller\
**Created:** [October 3, 2019, 1:18pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133 "2019-10-03T13:18:31Z")\
**Posts on this page:** 8\
**Page:** 1

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**Author:** ![YoDoug](https://avatars.discourse-cdn.com/v4/letter/y/e0b2c6/32.png) [@YoDoug](https://tech-community.robotics.abb.com/u/YoDoug)\
**Post date:** [October 3, 2019, 1:18pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/1 "2019-10-03T13:18:31Z")

</div>

We have an IRB6700 that was purchased with a dress pack. We ended up removing the physical dress pack/flange and replacing with our own design. I am now running into an issue with an 50181 Out of coupled range error because the joint combination for Axis 5/6 is still set for the dress pack. Where can I change this axis combo limits?

TIC,

Doug

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<div class="post-metadata">

**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [October 3, 2019, 1:39pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/2 "2019-10-03T13:39:11Z")

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Have not seen that before. Has to be in the MOC though. Will you post it?

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<div class="post-metadata">

**Author:** ![YoDoug](https://avatars.discourse-cdn.com/v4/letter/y/e0b2c6/32.png) [@YoDoug](https://tech-community.robotics.abb.com/u/YoDoug)\
**Post date:** [October 3, 2019, 1:48pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/3 "2019-10-03T13:48:15Z")

</div>

Please forgive my relatively new ABB user questions, What is the MOC?

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<div class="post-metadata">

**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [October 3, 2019, 1:57pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/4 "2019-10-03T13:57:31Z")

</div>

MOC.cfg file, system parameters for motion, located in syspar folder of a backup.

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<div class="post-metadata">

**Author:** ![YoDoug](https://avatars.discourse-cdn.com/v4/letter/y/e0b2c6/32.png) [@YoDoug](https://tech-community.robotics.abb.com/u/YoDoug)\
**Post date:** [October 3, 2019, 3:25pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/5 "2019-10-03T15:25:06Z")

</div>

MOC:CFG\_1.0:6:0::

# 

MOTION\_SYSTEM:

-name “system\_1” -min\_temp\_ambient\_cabinet 5 -max\_temp\_ambient\_cabinet 45  
-min\_temp\_ambient\_robot 5 -max\_temp\_ambient\_robot 45

# 

MOTION\_PLANNER:

-name “motion\_planner\_1” -std\_servo\_queue\_time 0.193536  
-linear\_max\_speed 9.7 -use\_motion\_sup “rob1”  
-use\_jog\_parameters “motion\_planner\_1” -use\_for\_jogging -repos\_installed   
-use\_spline\_parameters “motion\_planner\_1” -restricted\_circlepoint   
-optimized\_start\_from\_finepoint 1

-name “motion\_planner\_2”

-name “motion\_planner\_3”

-name “motion\_planner\_4”

-name “motion\_planner\_5”

-name “motion\_planner\_6”

# 

JOG\_PARAMETERS:

-name “motion\_planner\_1” -linear\_step\_size 0.00025 -jog\_mode 1

# 

RELAY:

-name “rob1\_brake” -out\_signal “DRV1BRAKE” -in\_signal “DRV1BRAKEFB”

-name “rob1\_run” -out\_signal “DRV1CHAIN1” -in\_signal “DRV1K1” -run\_relay

-name “rob1\_run2” -out\_signal “DRV1CHAIN2” -in\_signal “DRV1K2” -run\_relay

# 

ROBOT:

-name “ROB\_1” -use\_robot\_serial\_number “rob\_1”  
-use\_robot\_type “ROB1\_6700\_LeanID\_2.60\_175” -use\_robot\_calib “r1\_uncalib”  
-use\_joint\_0 “rob1\_1” -use\_joint\_1 “rob1\_2” -use\_joint\_2 “rob1\_3”  
-use\_joint\_3 “rob1\_4” -use\_joint\_4 “rob1\_5” -use\_joint\_5 “rob1\_6”  
-base\_mass 238.5 -base\_mass\_centre\_x -0.0221 -base\_mass\_centre\_y 0.0004  
-base\_mass\_centre\_z 0.1979 -use\_lin\_jog “ROB1” -use\_reorient\_jog “ROB1”  
-use\_joint\_jog “ROB1” -use\_css “rob1”  
-use\_motion\_process\_mode “rob1\_optimal\_cycle\_time\_mode”

# 

ROBOT\_SERIAL\_NUMBER:

-name “rob\_1” -robot\_serial\_number\_high\_part “6700”  
-robot\_serial\_number\_low\_part 801235

# 

FOOT\_INTERFACE:

-name “r1\_foot”

# 

TOOL\_INTERFACE:

-name “r1\_tool”

# 

CSS:

-name “rob1” -valid

# 

MOTION\_PROCESS\_MODE:

-name “rob1\_optimal\_cycle\_time\_mode” -mode\_id 1  
-use\_motion\_process\_mode\_type “rob1\_optimal\_cycle\_time\_mode”

-name “rob1\_low\_speed\_accuracy\_mode” -mode\_id 2  
-use\_motion\_process\_mode\_type “rob1\_low\_speed\_accuracy\_mode”

-name “rob1\_low\_speed\_stiff\_mode” -mode\_id 3  
-use\_motion\_process\_mode\_type “rob1\_low\_speed\_stiff\_mode”

-name “rob1\_accuracy\_mode” -mode\_id 4  
-use\_motion\_process\_mode\_type “rob1\_accuracy\_mode” -world\_acc\_factor 1

-name “rob1\_mpm\_user\_mode\_1” -mode\_id 5  
-use\_motion\_process\_mode\_type “rob1\_optimal\_cycle\_time\_mode”

-name “rob1\_mpm\_user\_mode\_2” -mode\_id 6  
-use\_motion\_process\_mode\_type “rob1\_optimal\_cycle\_time\_mode”

-name “rob1\_mpm\_user\_mode\_3” -mode\_id 7  
-use\_motion\_process\_mode\_type “rob1\_optimal\_cycle\_time\_mode”

-name “rob1\_mpm\_user\_mode\_4” -mode\_id 8  
-use\_motion\_process\_mode\_type “rob1\_optimal\_cycle\_time\_mode”

# 

MOTION\_SUP:

-name “default”

-name “rob1” -path\_col\_detect\_on -jog\_col\_detect\_on   
-gravity\_tolerance 0.2 -friction\_tolerance 1 -disturbance\_tolerance 0.2

# 

ARM:

-name “rob1\_1” -use\_arm\_type “ROB1\_1” -use\_acc\_data “rob1\_1”  
-use\_customer\_arm\_load “r1\_load\_1” -use\_arm\_calib “rob1\_1”  
-upper\_joint\_bound 2.96706 -lower\_joint\_bound -2.96706  
-upper\_joint\_bound\_max 2.96706 -lower\_joint\_bound\_min -2.96706

-name “rob1\_2” -use\_arm\_type “ROB1\_2” -use\_acc\_data “rob1\_2”  
-use\_customer\_arm\_load “r1\_load\_2” -use\_arm\_calib “rob1\_2”  
-upper\_joint\_bound 1.48353 -lower\_joint\_bound -1.13446  
-upper\_joint\_bound\_max 1.48353 -lower\_joint\_bound\_min -1.13446

-name “rob1\_3” -use\_arm\_type “ROB1\_3” -use\_acc\_data “rob1\_3”  
-use\_check\_point “rob1\_3” -use\_customer\_arm\_load “r1\_load\_3”  
-use\_arm\_calib “rob1\_3” -upper\_joint\_bound 1.22173  
-lower\_joint\_bound -3.14159 -upper\_joint\_bound\_max 1.22173  
-lower\_joint\_bound\_min -3.14159

-name “rob1\_4” -use\_arm\_type “ROB1\_4” -use\_acc\_data “rob1\_4”  
-use\_customer\_arm\_load “r1\_load\_4” -use\_arm\_calib “rob1\_4”  
-upper\_joint\_bound 5.23599 -lower\_joint\_bound -5.23599  
-upper\_joint\_bound\_max 5.23599 -lower\_joint\_bound\_min -5.23599

-name “rob1\_5” -use\_arm\_type “ROB1\_5” -use\_acc\_data “rob1\_5”  
-use\_arm\_calib “rob1\_5” -upper\_joint\_bound 2.2689  
-lower\_joint\_bound -2.2689 -upper\_joint\_bound\_max 2.0944  
-lower\_joint\_bound\_min -2.0944

-name “rob1\_6” -use\_arm\_type “ROB1\_6” -use\_acc\_data “rob1\_6”  
-use\_arm\_calib “rob1\_6” -upper\_joint\_bound 6.28319  
-lower\_joint\_bound -6.28319 -upper\_joint\_bound\_max 604  
-lower\_joint\_bound\_min -604

# 

ARM\_CHECK\_POINT:

-name “rob1\_3” -position\_x -0.252 -position\_y 0 -position\_z 0.342

# 

ARM\_LOAD:

-name “r1\_load\_1” -mass 9 -mass\_centre\_x 0.08 -mass\_centre\_y -0.55  
-mass\_centre\_z 0.465

-name “r1\_load\_2” -mass 12.6 -mass\_centre\_y -0.55 -mass\_centre\_z 0.55

-name “r1\_load\_3” -mass 8 -mass\_centre\_x -0.25 -mass\_centre\_y 0.025  
-mass\_centre\_z 0.08

-name “r1\_load\_4” -mass 10 -mass\_centre\_x 0.693 -mass\_centre\_y 0.2  
-mass\_centre\_z 0.2

# 

ARM\_CALIB:

-name “rob1\_1”

-name “rob1\_2”

-name “rob1\_3”

-name “rob1\_4”

-name “rob1\_5”

-name “rob1\_6”

# 

JOINT\_CALIB:

-name “rob1\_1”

-name “rob1\_2”

-name “rob1\_3”

-name “rob1\_4”

-name “rob1\_5”

-name “rob1\_6”

# 

MAINS:

-name “mains” -u\_tolerance\_min -0.15 -u\_tolerance\_max 0.1

-name “mains\_no\_rectifier” -u\_tolerance\_min 0 -u\_tolerance\_max 0

# 

CURRENT\_CONTROLLER:

-name “c\_c\_slow\_1” -Kp\_d\_factor 0.2 -current\_forced\_factor 0.5  
-delay\_filter\_time 0.000252

# 

CABLE:

-name “cable\_4.5\_30” -use\_cable\_type “cable\_4.5” -length 30

-name “cable\_3.0\_30” -use\_cable\_type “cable\_3.0” -length 30

-name “cable\_1.5\_30” -use\_cable\_type “cable\_1.5” -length 30

-name “cable\_1.0\_30” -use\_cable\_type “cable\_1.0” -length 30

-name “cable\_3.0\_50” -use\_cable\_type “cable\_3.0” -length 50

-name “cable\_2.0\_50” -use\_cable\_type “cable\_2.0” -length 50

-name “cable\_0.75\_50” -use\_cable\_type “cable\_0.75” -length 50

-name “cable\_awg24\_0.815” -use\_cable\_type “cable\_awg24” -length 0.815

-name “cable\_awg24\_1.140” -use\_cable\_type “cable\_awg24” -length 1.14

-name “cable\_awg24\_1.65” -use\_cable\_type “cable\_awg24” -length 1.65

-name “cable\_awg24\_1.86” -use\_cable\_type “cable\_awg24” -length 1.86

-name “cable\_awg24\_2.205” -use\_cable\_type “cable\_awg24” -length 2.205

-name “cable\_awg24\_2.165” -use\_cable\_type “cable\_awg24” -length 2.165

-name “cable\_awg24\_1.215” -use\_cable\_type “cable\_awg24” -length 1.215

# 

MOTOR\_TYPE:

-name “default” -pole\_pairs 3 -inertia 0 -torque\_0 1 -ke 0.5  
-ke\_temp\_coef\_20 0 -ke\_tolerance\_min 0 -ke\_tolerance\_max 0 -ke\_red\_2i0 0  
-i\_max 3 -torque\_losses\_at\_speed1 0 -torque\_losses\_at\_speed2 0  
-torque\_losses\_at\_speed3 0 -speed1 100000 -speed2 100000 -speed3 100000  
-r\_stator\_20 5 -r\_stator\_temp\_coef\_20 0 -l\_stator 0.02

# 

MOTOR\_CALIB:

-name “LOCKED” -valid\_com\_offset -valid\_cal\_offset

-name “rob1\_1” -valid\_com\_offset -cal\_offset 0.2981 -valid\_cal\_offset   
-factory\_calibration\_method 2 -latest\_calibration\_method 2

-name “rob1\_2” -valid\_com\_offset -cal\_offset 2.6113 -valid\_cal\_offset   
-factory\_calibration\_method 2 -latest\_calibration\_method 2

-name “rob1\_3” -valid\_com\_offset -cal\_offset 4.9414 -valid\_cal\_offset   
-factory\_calibration\_method 2 -latest\_calibration\_method 2

-name “rob1\_4” -valid\_com\_offset -cal\_offset 5.281 -valid\_cal\_offset   
-factory\_calibration\_method 2 -latest\_calibration\_method 2

-name “rob1\_5” -valid\_com\_offset -cal\_offset 5.6413 -valid\_cal\_offset   
-factory\_calibration\_method 2 -latest\_calibration\_method 2

-name “rob1\_6” -valid\_com\_offset -cal\_offset 1.0177 -valid\_cal\_offset   
-factory\_calibration\_method 2 -latest\_calibration\_method 2

# 

DRIVE\_MODULE\_USER\_DATA:

-name “drive\_module\_1”

# 

CFRIC\_BLOCK:

-name “r1\_CFric\_1” -friction\_ff\_level 1.2 -servo\_tune\_id\_level 5  
-servo\_tune\_id\_ramp 6

-name “r1\_CFric\_2” -friction\_ff\_level 3.4 -servo\_tune\_id\_level 5  
-servo\_tune\_id\_ramp 6

-name “r1\_CFric\_3” -friction\_ff\_level 3 -servo\_tune\_id\_level 5  
-servo\_tune\_id\_ramp 6

-name “r1\_CFric\_4” -friction\_ff\_level 0.4 -servo\_tune\_id\_level 5  
-servo\_tune\_id\_ramp 6

-name “r1\_CFric\_5” -friction\_ff\_level 0.6 -servo\_tune\_id\_level 5  
-servo\_tune\_id\_ramp 6

-name “r1\_CFric\_6” -friction\_ff\_level 0.6 -servo\_tune\_id\_level 5  
-servo\_tune\_id\_ramp 6

# 

SIS\_EXTERNAL:

-name “r1\_sis\_param” -prod\_time\_service\_interval 20000  
-calender\_time\_service\_interval 1 -gear\_box\_warning\_level 100

# 

AXIS\_CALIBRATION\_JOINT:

-name “rob1\_1” -p1 5.14 -p6 2 -p7 30 -p8 10

-name “rob1\_2” -p1 2.43 -p6 2 -p7 30 -p8 15

-name “rob1\_3” -p1 -3.21 -p6 2 -p7 30 -p8 15

-name “rob1\_4” -p1 -2.7 -p4 -5 -p6 2 -p7 30 -p8 10

-name “rob1\_5” -p1 -14.94 -p6 2 -p7 30 -p8 10

-name “rob1\_6” -p1 15.14 -p6 2 -p7 30 -p8 10

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<div class="post-metadata">

**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [October 4, 2019, 11:32am UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/6 "2019-10-04T11:32:53Z")

</div>

So I see that the robot type is LeanID. Therein is your “coupled limit”. So you have removed the LeanID dress and replaced with external dressing? I think that you would have to rebuild the system in RS, removing the LeanID option. I would check with ABB to be sure that there is no risk of damage/voiding warranty in doing so.

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<div class="post-metadata">

**Author:** ![YoDoug](https://avatars.discourse-cdn.com/v4/letter/y/e0b2c6/32.png) [@YoDoug](https://tech-community.robotics.abb.com/u/YoDoug)\
**Post date:** [October 9, 2019, 12:37pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/7 "2019-10-09T12:37:34Z")

</div>

Follow up for anyone that finds this thread in a search - We ended up having to order new software for the robot from ABB to have the option removed.

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<div class="post-metadata">

**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [October 9, 2019, 1:02pm UTC](https://tech-community.robotics.abb.com/t/out-of-coupled-range/9133/8 "2019-10-09T13:02:28Z")

</div>

Wow, really? You could not just rebuild the system and remove that option?