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System Parameters
7.2 Defining the range of movement and calibration position of each axis
• Choose Topics: Manipulator.
• Choose Types: Arm.
• Select the desired arm (axis) and press Enter
.
• Select the desired parameter and change its value.
• Press OK to confirm.
Parameter
Description
Name
The name of the arm, e.g. arm_1 (max. 16 characters).
Upper joint bound
The upper joint limit, e.g. +3.139 for axis 1 (in radians).
180o = 3.1416 radians.
Lower joint bound
The lower joint limit, e.g. -3.139 for axis 1 (in radians).
Use check point
The name of a check point (if any). See Defining arm check
point on page 58.
Use arm load
The name of an arm load (if any). See Defining arm load on
page 57.
Calibration position
The position of the axis when it was calibrated. If this value is
changed, the robot must subsequently be fine-calibrated in the
Service window. See the Product Manual.
7.3 Defining supervision level
It is possible to change the default supervision levels if a system needs to be more or
less tolerant to external disturbances. A higher tune factor than 1.0 gives a more tolerant
robot system and vice versa with a tune factor lower than 1.0. For instance, an increase
from the default tune factor 1.0 to factor 2.0, doubles the allowed supervision levels,
making the robot system more tolerant to external disturbances. Decreasing the tune
factor to 0.5 gives a system which is less tolerant to external disturbances.
Increasing the tune factors can reduce the lifetime of the robot.
• Choose Topics: Manipulator.
• Choose Types: Arm
• Select the desired arm (axis) and press Enter
.
• Select the desired parameter and change its value.
• Press OK to confirm.
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User’s Guide