Denso VM-6083G, Installation & Maintenance Manual

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38
Mechanical End Positions and Set Software Motion Limits
Positive-direction mechanical end Negative-direction mechanical end
A B A’ B’ A B A’ B’
Positive-direction software
motion limit
0 90 -33.75 -123.75
Negative-direction software
motion limit
33.75 123.75 0 -90
Caution: If you set mechanical ends (in addition to the permanent
mechanical end), set the software motion limits 5
°
inside from
the mechanical ends (RANG value). If the software motion
limits are set merely less than 5
°
inside from the mechanical
ends, the robot may bump against the mechanical stops before
it stops by software.
Examples (1) When the positive-direction mechanical ends are A and the negative-direction ones
are the permanent mechanical ends, change:
Positive-direction software motion limit = 0
RANG = value obtained in "Checking the set RANG value"
(2) When the positive-direction mechanical ends are the permanent mechanical ends and
the negative-direction mechanical ones are B’, change:
Positive-direction software motion limit = -90
(3) When the positive-direction mechanical ends are B and the negative-direction
mechanical ends are A’, change:
Positive-direction software motion limit = 90
RANG = value obtained in "Checking the set RANG value"
Negative-direction software motion limit = 0
(4) When the positive-direction mechanical ends are A’ and the negative-direction
mechanical ends are the permanent mechanical ends, change:
Positive-direction software motion limit = -33.75
RANG = value obtained in "Checking the set RANG value"
(5) When the positive-direction mechanical ends are the permanent mechanical ends
and the negative-direction mechanical ends are B, change:
Positive-direction software motion limit = 123.75