3.12 Setting the software limit (operating range)3.12 Setting the software limit (operating range)
The software limit (operating range) is set to the maximum operating range prior to shipment from the factory.The software limit (operating range) is set to the maximum operating range prior to shipment from the factory.
If the positions of the "stopper" and "limit switch" are changed or the If the positions of the "stopper" and "limit switch" are changed or the
operating area is changed for operationaloperating area is changed for operational
reasons, be sure to also change the software limit. There are the following three ways of setting the softwarereasons, be sure to also change the software limit. There are the following three ways of setting the software
limit. For these operations, an operator limit. For these operations, an operator
or higher is necessary.or higher is necessary.
(1) Position Recording(1) Position Recording
The robot is actually operated to move each of its axes to the position you want to set as theThe robot is actually operated to move each of its axes to the position you want to set as the
software limit and then the [REC] key is pressed. For the actual operation, refer to the followingsoftware limit and then the [REC] key is pressed. For the actual operation, refer to the following
(2) Data Input(2) Data Input
The software limit can be set without having to move the robot by inputting The software limit can be set without having to move the robot by inputting
hexadecimals for thehexadecimals for the
encoder values. Because of the nature of inputting numeric values and the difficulty of predictingencoder values. Because of the nature of inputting numeric values and the difficulty of predicting
the operating area, be extremely careful when configuring these settings. From "A" to "F" can bethe operating area, be extremely careful when configuring these settings. From "A" to "F" can be
inputted via the following keys.inputted via the following keys.
How to input the How to input the
hexadecimal values (A to F)hexadecimal values (A to F)
This menu is convenient in case that software limit value of one robot is copied to that ofThis menu is convenient in case that software limit value of one robot is copied to that of
another robot which is same type.another robot which is same type.
Software limit values (hexadecimals) to be input must be calculated beforehand.Software limit values (hexadecimals) to be input must be calculated beforehand.
(3) Auto Setting(3) Auto Setting
The software limit range is calculated automatically from the posture data of programsThe software limit range is calculated automatically from the posture data of programs
registered in the internal memory of the controller and then set. Press <Select> key to select theregistered in the internal memory of the controller and then set. Press <Select> key to select the
programs from the list and then put the check marks for the axes to be used for the calculation.programs from the list and then put the check marks for the axes to be used for the calculation.
When the <Complete> key is pressed, the software limit (operating range) is automaticallyWhen the <Complete> key is pressed, the software limit (operating range) is automatically
calculated. If it is necessary, set the calculated. If it is necessary, set the
margin parameters and then save the result margin parameters and then save the result
with <Complete>with <Complete>
key. When the software limit is set automatically, only the rkey. When the software limit is set automatically, only the r
obot posture data included in obot posture data included in
is used to calculate the software limit. Therefore, an error may be generated if an interpolationis used to calculate the software limit. Therefore, an error may be generated if an interpolation
operation results in the robot attempting a operation results in the robot attempting a
movement that exceeds the software limit. After settingmovement that exceeds the software limit. After setting
the software limit automatically, confirm that all programs move the robot without a problem.the software limit automatically, confirm that all programs move the robot without a problem.
Furthermore, if an error is generated, Furthermore, if an error is generated,
adjust the ±margin values.adjust the ±margin values.
The software limit function is not for The software limit function is not for
defining the limit area*. To defining the limit area*. To
change the limit area, usechange the limit area, use
the "stopper" and the "stopper" and
"limit switch"."limit switch".
Unexpected robot motion leading to a person being hit Unexpected robot motion leading to a person being hit
or caught may result in loss of life,or caught may result in loss of life,
serious injury, or an accident.serious injury, or an accident.
Limit area: The area the robot cannot move out of even if there is a failure orLimit area: The area the robot cannot move out of even if there is a failure or
malfunction with the robot system.malfunction with the robot system.
When software limit is changed, please do not forget When software limit is changed, please do not forget
to confirm that robot surely stops atto confirm that robot surely stops at
the defined software limit by manual operation. If this procedure is omitted, wrong settingthe defined software limit by manual operation. If this procedure is omitted, wrong setting
by mistaking operation may result in loss of by mistaking operation may result in loss of
life, serious injury, or an accident.life, serious injury, or an accident.
The following items areThe following items are
not supportednot supported
for auto setting of the software limit.for auto setting of the software limit.
(1) Servo gun axis*(The checkmark cannot be turned ON)(1) Servo gun axis*(The checkmark cannot be turned ON)
(2) Endless axis*(The checkmark cannot be turned (2) Endless axis*(The checkmark cannot be turned
(3) Other than angle commands of robotic language (3) Other than angle commands of robotic language
for each axis angle (MOVE/for each axis angle (MOVE/
MOVEJ/MOVEX_J/MOVEX_E)MOVEJ/MOVEX_J/MOVEX_E)
* Calculation is not performed automatically, but values can * Calculation is not performed automatically, but values can
be input directly in the be input directly in the
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