Extended work range

vanuitert

Hello,

 

In my system builder I've chosen the option extended work range axis 1 (+/- 220 deg), including EPS.

 

However, in robotstudio the work range is still a range from +/-170 deg.

 

Where can I change (increase) these work range for axis 1?

 

The Robot Used is an IRB6640.

 

kind Regards,

 

vanuitert

Henrik Berlin

Hi,

 

RobotStudio will update the simulation model according to the limits of the controller. This becomes very obvious if you first import the library for the 6640 (limits are +-170), use the function "System From Layout" to create the system, in the wizard add the option "Extendend working range." When the system starts you get the message "IRB6640_180_255__03: The limits of joint 1 were updated to system values because it differed between system and station model limits. " in the Output windows. And if you check the limits using the joint jog tool you will see that they have been updated to +-220.