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12. "SYSTEM" mode
3.
+Soft limit [pulse] /PLMT+
4.
-Soft limit [pulse] /PLMT-
These parameters set the plus (+) soft limits and minus (-) soft limits that determine
the range the robot can move. Soft limits inherent to each axis are automatically set
when the parameters are initialized.
The robot controller checks whether or not the specified point data is within the
soft limit range during automatic operation or point teaching. The value set for the
selected axis is displayed in converted units on the 3rd line of the RPB screen.
c
Chapter
CAUTION
4
• This is a critical parameter for establishing the robot operating range so
• On SCARA robots, make sure that the total movement range of the "+"
• Software limits are disabled when origin return is incomplete.
[Procedure]
1) Select "3. +Soft limit [pulse]" or "4. -Soft limit [pulse]" in "SYSTEM> PARAM>AXIS"
mode.
2) Press
3) Select the axis with the cursor ( ↑ / ↓ ) keys.
■ Setting the "+Soft limit [pulse]"
SYSTEM>PARAM>AXIS
[+/-6144000] Enter >_ 1 00000
4) Enter the value with
value you input was a real number (number containing a decimal point), then the soft
limit setting is converted into "pulse" units.
5) Repeat the above steps 3) and 4) if necessary.
6) Press
4-158
set it to a correct value.
and "-" software limits for X-axis and Y-axis does not exceed 360 degrees.
If the setting exceeds 360 degrees, then errors might occur in the
coordinate conversion results.
Use caution during jog movement.
(EDIT).
3.+Soft limit[pulse]
M1= 100000
M2= 100000
to
to quit the edit mode.
V9.00
(112.50
mm)
, and
,
and then press
. If the
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