5 Basic Specifications
5.7 Limitations on the L- and R-Axis Movement
5-8
179394-1CD
HW1483905
MFL15D-875/-1600
5.7 Limitations on the L- and R-Axis Movement
The MOTOMAN-MFL15D limits the movement of either the L- or R-axis
according to the position of the other. (e.g. The movement of the L-axis is
limited according to the position of the R-axis, and vice versa.)
To move either the L- or R-axis, move first the other axis backward from
the limited position. Then start moving the L- or R-axis from the position.
The following alarm occurs if an attempt is made to execute a move
instruction to move the L- or R-axis beyond the limited position when the
other axis is in the “+” direction from the limited position.
<At playback operation, forward/backward operation, or test run>
Alarm 4617: SU-Axes MOTION IMPOSSIBILITY (LR-Axes pose error)
[Decimal Data]
<At axis operation>
Alarm 4421: SPECIAL SOFTLIMIT (MAX.) Robot/Station [Axis Data]
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