9 Utility
9.1 Limit Release
9-2
HW1485509
HW1485509
9.1.1 Soft Limits
The operating range of the manipulator is controlled by two soft limits:
– The maximum motion range for each axis
– The cubic operation area set parallel to the Robot coordinate system
The axis range can be reduced using the software pendant, and allowing
the axis range to be limited by the soft limit. Cubic Zones can be set to
prevent the manipulator from entering specific areas of the workspace.
To set the soft limit using the Software Pendant, refer to the
INSTRUCTIONS of the YRC Controller.
9.1.2 Self-Interference
The manipulator that has self-interference function enabled (e.g.
MOTOMAN-HC10) will have this feature. It is the function that controls
prohibiting interfere between the manipulator and the attached tool.
9.1.3 All Limits
All limits include the following limit settings:
Make sure to take safety measures when disabling self-
interference. Failure to observe this instruction may cause
contact with the manipulator, which may result in equipment
damage.
Table 9-1: All Limit Settings
Limit Description
Mechanical Limit Limit to check manipulator’s range of motion
L-U Interference Limit to check L- and U-axis interference area
Soft Limit on Each Axis Soft limit to check manipulator’s range of motion
Cubic Zone Limit to check cubic zone set by user
CAUTION
• When operating the manipulator with all the limits released, make
sure to pay close attention to the safety of the operation
environment.
If all the limits are released, the manipulator may move beyond its
range of motion, which may result in damage to the manipulator or
other equipment.
To Next Page
Loading...
