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Product manual - IRBT 2005
3HAC051130-001 Revision: F
2.7.3 Setting upper and lower software limits for the track
Action
The upper and lower limit monitoring is active
when in manual mode, thus it is first necessary
increase the current limit to beyond the mech-
anical stop. This will then allow the track to be
jogged without error up to the desired limit
position.
ARM : -upper_joint_bound 11 -
lower_joint_bound -1
WARNING
If the actual track length is 10 meters in the
positive direction of movement, and -0.060
meter in the negative direction, then first set
the upper bound to 11 meters and the lower
bound to -1 meters.
Restart the controller.
Jog the mechanical unit to the desired limit
position as shown in the figure.
Note
A minimum distance of 20 mm should be used
between where the software limit is set and the
actual mechanical stop.
In the jogging window, read the current position
for the track motion.
Note
The distance is shown in millimeters.
Update the limit value in the MOC file. (In this
example it is 9950.1 mm.)
ARM: -upper_joint_bound 9.950 -
lower_joint_bound -1
Restart the controller.
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2 Installation and commissioning
Note
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