XYZ Gantry joint limits not going past 1m (already changed controller arm cfg)

surajnair

Hello,
I'm having issues with joint limits on a stand alone controller in robot studio. I have designed a mechanism for a gantry area robot (XYZC(Z)) and created a SAC controller for it. I also updated the controller arm joint limit (in controller motion config) for a wide working area (-2 to +2 meter in x). I'm also able to jog the robot with these setting. But when I move it through rapid, for some reason the joints are not going beyond 1 meter in x direction (some limit is being enforced from somewhere, and I get an error saying joint is out of range). The only place to set limits (according to documentation) is in the controller arm config section. But still the robot is not moving outside a volume on 1 meter cube.

PS: when creating the mechanism, I used the -2.5 to +2.5 meter limits for the joints also. And for values smaller than 1 m, it works fine.

surajnair

thnaks anyways. We fixed the problem. There are some hidden parameters (like additional max joint limit parameters) which are exposed only when u save configuration and look into the saved moc.cfg. We changed it there and loaded it again and then things worked. Ideally these parameters should also appear in the configuration editor.