Have 4 irb2400 on S4CPLUS M2000 controllers. Is there a way to adjust the soft limits on axis 2 to gain a bit more -Z (world) on these inverted robots? We are not yet to the hard limit, but need a bit more height due to a rather tall waterjet fixture.
soft limit adjustment
-
gmgcfa -
June 3, 2016 at 12:47 PM -
Thread is marked as Resolved.
-
-
Check under System Parameters>Manipulator>arm>irb_2
The "Upper joint bound" and "Lower joint bound" look similar to the motor calibration numbers.
I didn't try changing them on a working machine. -
Thank you, I will look into this. I don't usually mess with a working machine either!
-
Just a little extra information: I believe those numbers are in radians, so 5 degrees = 0.0873 Radians, and 1 radian = 57.295 degrees. Just as an example, FYI