I have an IRB6700 robot and due to the construction of the cell, I need a maximum angle of axis 1 of more then 180°.
I see in documentation that maximum angle is 170°, but with option 220° is possible.
What does this option include : is it a combination of software and hardware?
IRB6700 : maximum angle axis 1
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SimotionD410 -
June 17, 2018 at 4:51 PM -
Thread is marked as Resolved.
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Additional question :
I want to use the enlarge range of axis one in robotstudio.
In the virtual flexpendant I have set in configuration- motion-arm-rob1-1 the upper joint bound and lower joint bound to 3.12 and -3.12 but after restart I can still not jog further then 170°.
What do I have to do make the range of axis 1 larger in the simulation in Robotstudio (additional to my first question). -
Modify your system with installation manager, under drive module, find options, check the box 561-1 Axis 1 extended work range.
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What does this option include : is it a combination of software and hardware?Both !
Only hardware modification on the arm itself is the removal of the "tap" (possibly putting a cover in its place).
But since you don't have a mechanical limit anymore they now require that you install EPS. (Electronic Positioning Switches, or Safemove if you already have that).The rest is software.
Your motion parameters consists of two values, one that's hidden (max / min values) on the pendant but visible in the moc.cfg file (assuming the parameter isn't encrypted) and one that's open (standard joint bound).
Min/Max values will "cap" whats set in the pendant if the pendant values are outside the min/max values.