external rotational axis limits

kschmid

I have a constantly rotating positioner that runs out of range at -3780

Position for MTD_250_M2009_REV1_ joint M9DM1 is out of working range.

I just add/subtract rotations (and there may be like 300 full ones) ? Whats the range? Just mod 360 doesnt work either?

Are there any docs on it?

SomeTekk

Not shown in the Motion parameters on the Flexpendant, but is part of the moc.cfg files are absolute limits to prevent damage from the unknowing individual inadvertently entering an astronomical value in parameters. There are max & min values that can viewed with a text editor:

       -name "Trnsf" -use_arm_type "Trnsf" -use_acc_data "Trnsf"\

      -upper_joint_bound 6.575 -lower_joint_bound -3.6\

      -upper_joint_bound_max 6.585 -lower_joint_bound_min -3.61

Is use of the option Independent Axes possible?

k_schmid

We need to sync the axis, i check with my hardware people but i dont think it can be damaged when rotating a lot...

kschmid

https://forums.robotstudio.com/discussion/6714/software-joint-limit

https://www.youtube.com/watch?v=nYKcC7hRyYU

selivanov

Hello. I watched this discussion, but still didn't understand it.
I have / or am creating a robot and positioner system ( for example, IRBP A). But the rotation of the second axis (the flange table) is limited to 1416 degrees. Can I change the limit values for the second axis, such as making 10,000 degrees. And how do I do that?

I tried, as in the video, only the values for the first axis changed. I set the value to 100, and in the jogging window the values became 5729 - this is for the first axis. No changes for the second axis.

Help me, please

selivanov

That is, for the axis in the in the Motion topic, type Arm tab, the value changes. and Plate doesn't change...

lemster68

The values specified for axis limits are set in units of radians.

selivanov

Yes, taking into account it all turned out in one system, but in the drcoc is still unchanged.