Set Upper And Lower Limits Software Limits For Track - ABB FlexTrack IRT501 Series Product Manual

2 Installation and commissioning

2.8.6 Set Upper and Lower Limits Software Limits for track

2.8.6 Set Upper and Lower Limits Software Limits for track
Introduction
The Upper and Lower software limit of the track are software limits that prevent
the track from being jogged beyond the mechanical limit of the track.
Example
An example of the error message that is generated when the track is jogged beyond
its software limit is shown below:
xx1800001947
The Upper and Lower Limit of the track is the physical displacement distance from
the zero position to the limit position in meters. This depends on the length of the
track, and the location of the calibration pin (Also referred to as the Zero position
of the track).
The limits are in MOC.CFG, under the theme ARM.
The upper limit is called upper_joint_bound , and the lower limit is called
lower_joint_bound. Both are expressed in meters.
In the example below the upper limit is set to 6 m and the lower limit is set to -0.005
m.
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WARNING
This is an important safety feature to prevent damage to the track. Ensure that
the track direction has first been set and the track has been calibrated before
performing this step.
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Product manual - FlexTrack IRT501-66/66R/90/90R
3HAW050008590-001 Revision: C