IAI PSEL, Operation Manual

Page: 560 / 1062

1. Preparation in
Advance
66
[Soft limits for R-axis]
The R-axis position at which the D-cut surface at the tip of the axis faces the center of rotation
of arm 2 defines the coordinate home of the axis system of R-axis (0deg). This position is not
affected by the arm 1 or arm 2 position.
Operating angles in the
counterclockwise direction (positive
direction) from this coordinate home of
axis system are limited by the soft limit+
(axis 4 of axis-specific parameter No. 7).
Operating angles in the clockwise
direction (negative direction) are limited
by the soft limit- (axis 4 of axis-specific
parameter No. 8).
When limiting the operating range of the R-axis, you must pay attention to the difference
between the base coordinate system and this axis system.
(Example)
Limit the range of operation of the R-axis to
r
180 from the position shown below.
(Limit the R-axis to within
r
180deg in the Axis 4 = 0 condition on the base coordinate system.)
In this case, the R-axis is limited to within
90deg in the positive direction and within
270deg in the negative direction from the
coordinate home of the axis system of R-axis.
The parameters below are set as follows:
Axis 4 of axis-specific parameter No. 7 = 90000
Axis 4 of axis-specific parameter No. 8 = -270000
Center of rotation of R-axis
D-cut surface
Soft limit-
Soft limit+
720deg in the
example of PC
software screen
-720deg in the
example of PC
software screen
Center of rotation of arm 2
-180deg (base coordinate)
Orientation of D-cut surface
Orientation of D-cut surface
Orientation of center
of rotation of arm 2
180deg (base coordinate)
+90deg
(axis system of R-axis)
-270deg
(axis system of R-axis)
-Xb direction
+Xb
+Yb
-Xb