2.5.10 Extended working range, axis 1 (option 561-1)OverviewThe working range of axis 1 can be increased from standard range to extended ±220º.Extending the working rangeNote/IllustrationActionxx0400001034Remove the mechanical stop pin from axis1 (A).1See Application manual - Electronic Posi-tion Switches.Option 561-1 requires installation of option810-1 Electronic Position Switches.2Configure Electronic Position Switches.How to define the range of movement inRobotWare 4.0 is detailed in User’sguide - S4Cplus (BaseWare OS 4.0),chapter System Parameters - topic Manip-ulator.Redefine the software working range limit-ations in the system parameters, topicMotion. The Arm parameters Upper JointBoundand Lower Joint Bound must bechanged to 3.84 respectively -3.84. Thevalues are in radians, that is 3.84 radians= 220 degrees.3The system parameters that must bechanged (Upper joint bound and Lowerjoint bound) are described in Technicalreference manual - System parameters.Product manual - IRB 7600 953HAC022033-001 Revision: V© Copyright 2007 - 2018 ABB. All rights reserved.2 Installation and commissioning2.5.10 Extended working range, axis 1 (option 561-1)
