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3
4
5
6
7
Examples of correct values for the software limits
The following tables show configuration values for Upper Joint Bound and Lower
Joint Bound for a number of different configurations
Single robot carriage and signal transfer carriage
Track L (mm)
2230
3230
4230
5230
6230
7230
8230
9230
10230
11230
12230
13230
14230
15230
16230
17230
18230
19230
20230
21230
Single robot carriage with extra plate
Total L (mm)
4230
5230
Product manual - IRBT 2005
3HAC051130-001 Revision: F
2.7.3 Setting upper and lower software limits for the track
Action
Under Topics, tap Motion.
Select Arm.
Select the mechanical unit.
Change the values for the parameters Upper
joint bound and Lower Joint bound.
Tap OK to save the change and then restart
the controller.
Modules
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
Modules
4
5
© Copyright 2015 - 2018 ABB. All rights reserved.
2 Installation and commissioning
Note
Travel L (m)
Upper Joint
Bound (m)
0.85
0.35
1.85
1.35
2.85
2.35
3.85
3.35
4.85
4.35
5.85
5.35
6.85
6.35
7.85
7.35
8.85
8.35
9.85
9.35
10.85
10.35
11.85
11.35
12.85
12.35
13.85
13.35
14.85
14.35
15.85
15.35
16.85
16.35
17.85
17.35
18.85
18.35
19.85
19.35
Travel L (m)
Upper Joint
Bound (m)
1.69
1.35
2.69
2.35
Continued
Lower Joint
Bound (m)
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
-0.5
Lower Joint
Bound (m)
-0.34
-0.34
Continues on next page
127
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