Out of coupled range

YoDougYoDoug United States
We have an IRB6700 that was purchased with a dress pack. We ended up removing the physical dress pack/flange and replacing with our own design. I am now running into an issue with an 50181 Out of coupled range error because the joint combination for Axis 5/6 is still set for the dress pack. Where can I change this axis combo limits?

TIC,

Doug

Comments

  • lemster68lemster68 United States ✭✭✭
    Have not seen that before.  Has to be in the MOC though.  Will you post it?
    Lee Justice
  • YoDougYoDoug United States
    Please forgive my relatively new ABB user questions, What is the MOC?
  • lemster68lemster68 United States ✭✭✭
    MOC.cfg file, system parameters for motion, located in syspar folder of a backup.
    Lee Justice
  • YoDougYoDoug United States
    MOC:CFG_1.0:6:0::
    #
    MOTION_SYSTEM:

          -name "system_1" -min_temp_ambient_cabinet 5 -max_temp_ambient_cabinet 45\
          -min_temp_ambient_robot 5 -max_temp_ambient_robot 45
    #
    MOTION_PLANNER:

          -name "motion_planner_1" -std_servo_queue_time 0.193536\
          -linear_max_speed 9.7 -use_motion_sup "rob1"\
          -use_jog_parameters "motion_planner_1" -use_for_jogging  -repos_installed \
          -use_spline_parameters "motion_planner_1" -restricted_circlepoint \
          -optimized_start_from_finepoint 1

          -name "motion_planner_2"

          -name "motion_planner_3"

          -name "motion_planner_4"

          -name "motion_planner_5"

          -name "motion_planner_6"
    #
    JOG_PARAMETERS:

          -name "motion_planner_1" -linear_step_size 0.00025 -jog_mode 1
    #
    RELAY:

          -name "rob1_brake" -out_signal "DRV1BRAKE" -in_signal "DRV1BRAKEFB"

          -name "rob1_run" -out_signal "DRV1CHAIN1" -in_signal "DRV1K1" -run_relay 

          -name "rob1_run2" -out_signal "DRV1CHAIN2" -in_signal "DRV1K2" -run_relay 
    #
    ROBOT:

          -name "ROB_1" -use_robot_serial_number "rob_1"\
          -use_robot_type "ROB1_6700_LeanID_2.60_175" -use_robot_calib "r1_uncalib"\
          -use_joint_0 "rob1_1" -use_joint_1 "rob1_2" -use_joint_2 "rob1_3"\
          -use_joint_3 "rob1_4" -use_joint_4 "rob1_5" -use_joint_5 "rob1_6"\
          -base_mass 238.5 -base_mass_centre_x -0.0221 -base_mass_centre_y 0.0004\
          -base_mass_centre_z 0.1979 -use_lin_jog "ROB1" -use_reorient_jog "ROB1"\
          -use_joint_jog "ROB1" -use_css "rob1"\
          -use_motion_process_mode "rob1_optimal_cycle_time_mode"
    #
    ROBOT_SERIAL_NUMBER:

          -name "rob_1" -robot_serial_number_high_part "6700"\
          -robot_serial_number_low_part 801235
    #
    FOOT_INTERFACE:

          -name "r1_foot"
    #
    TOOL_INTERFACE:

          -name "r1_tool"
    #
    CSS:

          -name "rob1" -valid 
    #
    MOTION_PROCESS_MODE:

          -name "rob1_optimal_cycle_time_mode" -mode_id 1\
          -use_motion_process_mode_type "rob1_optimal_cycle_time_mode"

          -name "rob1_low_speed_accuracy_mode" -mode_id 2\
          -use_motion_process_mode_type "rob1_low_speed_accuracy_mode"

          -name "rob1_low_speed_stiff_mode" -mode_id 3\
          -use_motion_process_mode_type "rob1_low_speed_stiff_mode"

          -name "rob1_accuracy_mode" -mode_id 4\
          -use_motion_process_mode_type "rob1_accuracy_mode" -world_acc_factor 1

          -name "rob1_mpm_user_mode_1" -mode_id 5\
          -use_motion_process_mode_type "rob1_optimal_cycle_time_mode"

          -name "rob1_mpm_user_mode_2" -mode_id 6\
          -use_motion_process_mode_type "rob1_optimal_cycle_time_mode"

          -name "rob1_mpm_user_mode_3" -mode_id 7\
          -use_motion_process_mode_type "rob1_optimal_cycle_time_mode"

          -name "rob1_mpm_user_mode_4" -mode_id 8\
          -use_motion_process_mode_type "rob1_optimal_cycle_time_mode"
    #
    MOTION_SUP:

          -name "default"

          -name "rob1" -path_col_detect_on  -jog_col_detect_on \
          -gravity_tolerance 0.2 -friction_tolerance 1 -disturbance_tolerance 0.2
    #
    ARM:

          -name "rob1_1" -use_arm_type "ROB1_1" -use_acc_data "rob1_1"\
          -use_customer_arm_load "r1_load_1" -use_arm_calib "rob1_1"\
          -upper_joint_bound 2.96706 -lower_joint_bound -2.96706\
          -upper_joint_bound_max 2.96706 -lower_joint_bound_min -2.96706

          -name "rob1_2" -use_arm_type "ROB1_2" -use_acc_data "rob1_2"\
          -use_customer_arm_load "r1_load_2" -use_arm_calib "rob1_2"\
          -upper_joint_bound 1.48353 -lower_joint_bound -1.13446\
          -upper_joint_bound_max 1.48353 -lower_joint_bound_min -1.13446

          -name "rob1_3" -use_arm_type "ROB1_3" -use_acc_data "rob1_3"\
          -use_check_point "rob1_3" -use_customer_arm_load "r1_load_3"\
          -use_arm_calib "rob1_3" -upper_joint_bound 1.22173\
          -lower_joint_bound -3.14159 -upper_joint_bound_max 1.22173\
          -lower_joint_bound_min -3.14159

          -name "rob1_4" -use_arm_type "ROB1_4" -use_acc_data "rob1_4"\
          -use_customer_arm_load "r1_load_4" -use_arm_calib "rob1_4"\
          -upper_joint_bound 5.23599 -lower_joint_bound -5.23599\
          -upper_joint_bound_max 5.23599 -lower_joint_bound_min -5.23599

          -name "rob1_5" -use_arm_type "ROB1_5" -use_acc_data "rob1_5"\
          -use_arm_calib "rob1_5" -upper_joint_bound 2.2689\
          -lower_joint_bound -2.2689 -upper_joint_bound_max 2.0944\
          -lower_joint_bound_min -2.0944

          -name "rob1_6" -use_arm_type "ROB1_6" -use_acc_data "rob1_6"\
          -use_arm_calib "rob1_6" -upper_joint_bound 6.28319\
          -lower_joint_bound -6.28319 -upper_joint_bound_max 604\
          -lower_joint_bound_min -604
    #
    ARM_CHECK_POINT:

          -name "rob1_3" -position_x -0.252 -position_y 0 -position_z 0.342
    #
    ARM_LOAD:

          -name "r1_load_1" -mass 9 -mass_centre_x 0.08 -mass_centre_y -0.55\
          -mass_centre_z 0.465

          -name "r1_load_2" -mass 12.6 -mass_centre_y -0.55 -mass_centre_z 0.55

          -name "r1_load_3" -mass 8 -mass_centre_x -0.25 -mass_centre_y 0.025\
          -mass_centre_z 0.08

          -name "r1_load_4" -mass 10 -mass_centre_x 0.693 -mass_centre_y 0.2\
          -mass_centre_z 0.2
    #
    ARM_CALIB:

          -name "rob1_1"

          -name "rob1_2"

          -name "rob1_3"

          -name "rob1_4"

          -name "rob1_5"

          -name "rob1_6"
    #
    JOINT_CALIB:

          -name "rob1_1"

          -name "rob1_2"

          -name "rob1_3"

          -name "rob1_4"

          -name "rob1_5"

          -name "rob1_6"
    #
    MAINS:

          -name "mains" -u_tolerance_min -0.15 -u_tolerance_max 0.1

          -name "mains_no_rectifier" -u_tolerance_min 0 -u_tolerance_max 0
    #
    CURRENT_CONTROLLER:

          -name "c_c_slow_1" -Kp_d_factor 0.2 -current_forced_factor 0.5\
          -delay_filter_time 0.000252
    #
    CABLE:

          -name "cable_4.5_30" -use_cable_type "cable_4.5" -length 30

          -name "cable_3.0_30" -use_cable_type "cable_3.0" -length 30

          -name "cable_1.5_30" -use_cable_type "cable_1.5" -length 30

          -name "cable_1.0_30" -use_cable_type "cable_1.0" -length 30

          -name "cable_3.0_50" -use_cable_type "cable_3.0" -length 50

          -name "cable_2.0_50" -use_cable_type "cable_2.0" -length 50

          -name "cable_0.75_50" -use_cable_type "cable_0.75" -length 50

          -name "cable_awg24_0.815" -use_cable_type "cable_awg24" -length 0.815

          -name "cable_awg24_1.140" -use_cable_type "cable_awg24" -length 1.14

          -name "cable_awg24_1.65" -use_cable_type "cable_awg24" -length 1.65

          -name "cable_awg24_1.86" -use_cable_type "cable_awg24" -length 1.86

          -name "cable_awg24_2.205" -use_cable_type "cable_awg24" -length 2.205

          -name "cable_awg24_2.165" -use_cable_type "cable_awg24" -length 2.165

          -name "cable_awg24_1.215" -use_cable_type "cable_awg24" -length 1.215
    #
    MOTOR_TYPE:

          -name "default" -pole_pairs 3 -inertia 0 -torque_0 1 -ke 0.5\
          -ke_temp_coef_20 0 -ke_tolerance_min 0 -ke_tolerance_max 0 -ke_red_2i0 0\
          -i_max 3 -torque_losses_at_speed1 0 -torque_losses_at_speed2 0\
          -torque_losses_at_speed3 0 -speed1 100000 -speed2 100000 -speed3 100000\
          -r_stator_20 5 -r_stator_temp_coef_20 0 -l_stator 0.02
    #
    MOTOR_CALIB:

          -name "LOCKED" -valid_com_offset  -valid_cal_offset 

          -name "rob1_1" -valid_com_offset  -cal_offset 0.2981 -valid_cal_offset \
          -factory_calibration_method 2 -latest_calibration_method 2

          -name "rob1_2" -valid_com_offset  -cal_offset 2.6113 -valid_cal_offset \
          -factory_calibration_method 2 -latest_calibration_method 2

          -name "rob1_3" -valid_com_offset  -cal_offset 4.9414 -valid_cal_offset \
          -factory_calibration_method 2 -latest_calibration_method 2

          -name "rob1_4" -valid_com_offset  -cal_offset 5.281 -valid_cal_offset \
          -factory_calibration_method 2 -latest_calibration_method 2

          -name "rob1_5" -valid_com_offset  -cal_offset 5.6413 -valid_cal_offset \
          -factory_calibration_method 2 -latest_calibration_method 2

          -name "rob1_6" -valid_com_offset  -cal_offset 1.0177 -valid_cal_offset \
          -factory_calibration_method 2 -latest_calibration_method 2
    #
    DRIVE_MODULE_USER_DATA:

          -name "drive_module_1"
    #
    CFRIC_BLOCK:

          -name "r1_CFric_1" -friction_ff_level 1.2 -servo_tune_id_level 5\
          -servo_tune_id_ramp 6

          -name "r1_CFric_2" -friction_ff_level 3.4 -servo_tune_id_level 5\
          -servo_tune_id_ramp 6

          -name "r1_CFric_3" -friction_ff_level 3 -servo_tune_id_level 5\
          -servo_tune_id_ramp 6

          -name "r1_CFric_4" -friction_ff_level 0.4 -servo_tune_id_level 5\
          -servo_tune_id_ramp 6

          -name "r1_CFric_5" -friction_ff_level 0.6 -servo_tune_id_level 5\
          -servo_tune_id_ramp 6

          -name "r1_CFric_6" -friction_ff_level 0.6 -servo_tune_id_level 5\
          -servo_tune_id_ramp 6
    #
    SIS_EXTERNAL:

          -name "r1_sis_param" -prod_time_service_interval 20000\
          -calender_time_service_interval 1 -gear_box_warning_level 100
    #
    AXIS_CALIBRATION_JOINT:

          -name "rob1_1" -p1 5.14 -p6 2 -p7 30 -p8 10

          -name "rob1_2" -p1 2.43 -p6 2 -p7 30 -p8 15

          -name "rob1_3" -p1 -3.21 -p6 2 -p7 30 -p8 15

          -name "rob1_4" -p1 -2.7 -p4 -5 -p6 2 -p7 30 -p8 10

          -name "rob1_5" -p1 -14.94 -p6 2 -p7 30 -p8 10

          -name "rob1_6" -p1 15.14 -p6 2 -p7 30 -p8 10

  • lemster68lemster68 United States ✭✭✭
    So I see that the robot type is LeanID.  Therein is your "coupled limit".  So you have removed the LeanID dress and replaced with external dressing?  I think that you would have to rebuild the system in RS, removing the LeanID option.  I would check with ABB to be sure that there is no risk of damage/voiding warranty in doing so.
    Lee Justice
  • YoDougYoDoug United States
    Follow up for anyone that finds this thread in a search - We ended up having to order new software for the robot from ABB to have the option removed. 
  • lemster68lemster68 United States ✭✭✭
    Wow, really?  You could not just rebuild the system and remove that option?
    Lee Justice
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