9.16 Temporary Release of Soft Limits
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9.16 Temporary Release of Soft Limits
The switches that are set to detect the motion range of the manipulator are called limit
switches. The operating range is monitored by the software in order to stop motion before
these limit switches are reached. These software limits are called "soft limits." The operating
range of the manipulator is controlled by the following two soft limits.
• Maximum motion range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system. When it is detected that the manip-
ulator (TCP) has reached a soft limit, the manipulator automatically stops.
When the manipulator is stopped at a soft limit, temporarily release the soft limit by following
the procedure below, then move the manipulator away from that which exceeded the soft limit.
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {LIMIT RELEASE}. The LIMIT RELEASE window is shown.
3 Select “SOFT LIMIT
RELEASE.”
Each time [SELECT] is pressed, “VALID” and “INVALID” alter-
nate. When “SOFT LIMIT RELEASE” is set to “VALID,” the mes-
sage “Soft limits have been released” is shown.
When “SOFT LIMIT RELEASE” is set to “INVALID,” the message
“Soft limits have not been released" is shown for three seconds.
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
LIMIT RELEASE
INVALID
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
INVALID
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
LIMIT RELEASE
VALID
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
INVALID
Softlimits have been released
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