Axis 1 to +-180°

Simotion

If I set in the configuration of my IRB6640 the upper join bound to 3.14 and the lower joint bound to -3.14, and after restart I try to jog, I can only jog +-170°.
The mechanical stops are removed, so there is no mechanical limit.
Are there other setting to be done to turn axis 1 +-180°?

RStevens

Open the Moc.cfg with ultraedit or wordpad.

Then change  upper joint bound max / lower joint bound max as well.

gr,

John Wiberg

Hi Simotion,

1) 

Isn't the actual real max +-170 for that robot??

Let's look in the data sheet

www.abb.com/robotics

>Industrial Robots

>6640

http://www.abb.com/product/seitp327/df458c1c0223a1aec1257363006dd9b3.aspx

Jupp:

"

Axis 1 Rotation +170° to - 170°"

2)

I think I covered some of this in earlier topics...

*Goes searching*

Jupp found this:

http://forums.robotstudio.com/discussion/comment/20525#Comment_20525

http://forums.robotstudio.com/discussion/comment/22053#Comment_22053

3)

Wouldn't 3.14 be 179.9 degrees? I think if you look in the examples in the link RAPID use 8 digits to their radiants so it would be [3.1415901] as 180 degrees.