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"Out of coupled range" error - IRB5510

egor
egor ✭
in RAPID Programming
Hi, can anyone tell me what causes this error? 

I do not understand whether it is related to the movement near the singular position? How to avoid it? 



Comments

  • xerim
    xerim ✭
    On this model of robot axis 4 and 6 are "coupled" meaning they are linked together to provide more stiffness for higher payloads. Unfortunately, this limits the reach of the robot. I would contact ABB about editing your MOC.cfg file to "uncouple" the joints without voiding the warranty. 
  • egor
    egor ✭
    xerim said:
    I would contact ABB about editing your MOC.cfg file to "uncouple" the joints without voiding the warranty. 
    Is it possible to "uncouple" these joints? This might solve my problems, including the occurrence of a singularity from time to time.
  • xerim
    xerim ✭
    Yes, by editing your MOC.cfg file. But please contact ABB before you do this as it could potentially void your warranty 

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