Other Functions - Yamaha TS-S User Manual

7. Other functions
7.1 Soft limit function
Software imposed limits can be applied to the robot's range of motion in order to prevent interference with
peripheral equipment. Robot movement is then restricted to target positions which are within the range
specified by the soft limit function. The soft limit range can be set at the K1 (soft limit (-)) and K2 (soft limit (+))
RUN parameters.
Soft limit function
Mechanical end
1: Movement from a stop position within the soft limit to a target position within the soft limit
2: Movement from a stop position within the soft limit to a target position outside the soft limit
3: Movement from a stop position outside the soft limit to a target position within the soft limit
w
WARNING
Soft lIMIt fuNCtIoN IS Not A SAfEty-RElAtED fuNCtIoN INtENDED to pRotECt thE huMAN BoDy.
to REStRICt thE RoBot MovEMENt RANGE to pRotECt thE huMAN BoDy, uSE thE MEChANICAl StoppERS INStAllED IN thE
RoBot (oR AvAIlABlE AS optIoNS).
7.2 Zone output function
This function outputs information which indicates whether or not the robot's current position is within a
specified zone, and it can be used to check the robot's position from a host unit, or to recognize zones where
movement is permitted or prohibited, etc. The zone boundaries can be set by the K7 (Zone -) and K8 (Zone +)
RUN parameters.
Zone output function
Zone output (ZONE)
n
NOTE
The zone output function is disabled if a return-to-origin has not yet been completed.
Movement range imposed by soft limit
Soft limit (-) (K1)
1.
2.
3.
Zone (-)
(K7)
Mechanical end
Position
Soft limit (+) (K2)
OK
NG
OK
Zone (+)
(K8)
23537-M0-00
OK (permitted).
NG (prohibited).
OK (permitted).
Position
23538-M0-00
5-47
5