Out of coupled range

YoDoug

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

lemster68

Have not seen that before.  Has to be in the MOC though.  Will you post it?

YoDoug

Please forgive my relatively new ABB user questions, What is the MOC?

lemster68

MOC.cfg file, system parameters for motion, located in syspar folder of a backup.

YoDoug

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

lemster68

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.

YoDoug

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. 

lemster68

Wow, really?  You could not just rebuild the system and remove that option?