# \#crb15000
**URL:** https://tech-community.robotics.abb.com/tag/crb15000/1287.md
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## [Analytical Inverse kinematics solution for ABB GoFa CRB 15000](https://tech-community.robotics.abb.com/t/analytical-inverse-kinematics-solution-for-abb-gofa-crb-15000/11903)
**Author:** [@moreuser25](https://tech-community.robotics.abb.com/u/moreuser25)\
**Replies:** 2\
**Last updated:** [May 8, 2025, 7:46pm UTC](https://tech-community.robotics.abb.com/t/analytical-inverse-kinematics-solution-for-abb-gofa-crb-15000/11903 "2025-05-08T19:46:18Z")
Hello everyone. I am not a robotics expert (I barely know the DH notation), but if I am not mistaken the inverse kinematics of a manipulator with a spherical wrist, i.e. with the last three joint axes intersecting, has …
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## [How do I speed up my steps on my nema 23 1.8 degree stepper motor?](https://tech-community.robotics.abb.com/t/how-do-i-speed-up-my-steps-on-my-nema-23-1-8-degree-stepper-motor/11860)
**Author:** [@AshTheWaterBoy](https://tech-community.robotics.abb.com/u/AshTheWaterBoy)\
**Replies:** 1\
**Last updated:** [April 4, 2025, 6:17am UTC](https://tech-community.robotics.abb.com/t/how-do-i-speed-up-my-steps-on-my-nema-23-1-8-degree-stepper-motor/11860 "2025-04-04T06:17:39Z")
I am using a CRB 15000 with a omnicore controller. I’m using the DO of a DSQC1030 to pulse to a stepper driver which controlls my nema 23 stepper motor. I’m running a code to pulsedo to a motor controller with a waittime…
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## [On the omnicore controller it ask to simulate waittime. How do I stop this from asking everytime?](https://tech-community.robotics.abb.com/t/on-the-omnicore-controller-it-ask-to-simulate-waittime-how-do-i-stop-this-from-asking-everytime/11842)
**Author:** [@AshTheWaterBoy](https://tech-community.robotics.abb.com/u/AshTheWaterBoy)\
**Replies:** 2\
**Last updated:** [March 26, 2025, 12:09pm UTC](https://tech-community.robotics.abb.com/t/on-the-omnicore-controller-it-ask-to-simulate-waittime-how-do-i-stop-this-from-asking-everytime/11842 "2025-03-26T12:09:59Z")
I am using a CRB 15000 with a omnicore controller. I’m running a code to pulsedo to a motor controller with a waittime. It looks like: PROC main() FOR i FROM 1 TO 1000 DO PulseDO DO10; waittime 500; ENDFOR ENDPROC …
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## [How to Setup EGM Client on Virtual Controller for CRB15000 GoFa](https://tech-community.robotics.abb.com/t/how-to-setup-egm-client-on-virtual-controller-for-crb15000-gofa/11615)
**Author:** [@wals](https://tech-community.robotics.abb.com/u/wals)\
**Replies:** 0\
**Last updated:** [September 19, 2024, 9:01am UTC](https://tech-community.robotics.abb.com/t/how-to-setup-egm-client-on-virtual-controller-for-crb15000-gofa/11615 "2024-09-19T09:01:55Z")
Hi, I would like to set up an EGM client on a virtual controller for CRB15000 GoFa. The EGM client should communicate with an EGM server running on another laptop. My Windows laptop, on which the virtual controller is …
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## [3D Printing with integrated extruder and Safety Controller Collaborative](https://tech-community.robotics.abb.com/t/3d-printing-with-integrated-extruder-and-safety-controller-collaborative/11453)
**Author:** [@hcostelha](https://tech-community.robotics.abb.com/u/hcostelha)\
**Replies:** 2\
**Last updated:** [May 24, 2024, 11:24am UTC](https://tech-community.robotics.abb.com/t/3d-printing-with-integrated-extruder-and-safety-controller-collaborative/11453 "2024-05-24T11:24:51Z")
Hi, We are currently planning to buy a GoFa (CRB 15000 10 kg 1.52m) and one of the experiments we will be doing is 3D Printing, including using the 3D Printing PowerPack from ABB. One of the options we were considering …