2.4.3 Extended working range, axis 1 (option 561-1)
Overview
The working range of axis 1 can be increased from standard range to extended ±
220º.
Extending the working range
Note/IllustrationAction
xx0400001034
Remove the mechanical stop pin from axis
1 (A).
1
See Application manual - Electronic Posi-
tion Switches.
Option 561-1 requires installation of option
810-1 Electronic Position Switches.
2
Configure Electronic Position Switches.
The system parameters that must be
changed (Upper joint bound and Lower
joint bound) are described in Technical
reference manual - System parameters.
Redefine the software working range limit-
ations in the system parameters, topic
Motion. The Arm parameters Upper Joint
Boundand Lower Joint Bound must be
changed to 3.84 respectively -3.84. The
values are in radians, that is 3.84 radians
= 220 degrees.
3
3HAC039838-001 Revision: C 95
© Copyright 2013 ABB. All rights reserved.
2 Installation and commissioning
2.4.3 Extended working range, axis 1 (option 561-1)
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