Limit Avoidance Distance - ABB IRB 14000 Operating Manual

5.3.6 Limit avoidance distance

Parent
Limit avoidance distance belongs to the type Robot, in the topic Motion.
Cfg name
limit_avoidance_distance
Description
Limit avoidance distance controls the distance to the nearest singularity or joint
limit when automatically adjusting the arm-angle.
Usage
The singularities that can be handled are where axis 2 or axis 5 is equal to zero.
Allowed values
A value between -1 to 100 radians.
The default value is 0.017453 radians.
Setting a negative value will disable the functionality.
Related information
Operating manual - IRB 14000
Operating manual - IRB 14000
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
5 System parameters
5.3.6 Limit avoidance distance
65