XVC769AE101 | 3BHE006373R0101 ABB OEI-Board

• Only 6-axis robots are supported.• The external device has to be robot mounted.• Corrections can only be applied in the path coordinate system.• Only position correction in y and z can be performed. It is not possible toperform orientation corrections, nor corrections in x (which is the pathdirection/tangent).• EGM Path Correction can only be used on 6-axis robots.• EGM can only be used in RAPID tasks with a robot, i.e. it is not possible touse it in a task that contains only additional axis, i.e. in robtargets there arevalues in the pose portion of the data.• An EGM path correction has to start and end in a fine point.• Only one external device can be used for each robot to provide correctiondata.