Nachi RMU20-20, Instruction Manual

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3.2Operation procedure
3-20
3.2.5 Arm limit setting
By setting this screen, it becomes possible to regulate the arm of the robot going outside of the
limit area. This setting is finished when shipping. it is not necessary to setup this screen by
customer.
1 Open <Constant Setting> - [3 Machine constants] [33 Virtual safety fence] [3
Arm Limit setting] menu.
2 After the completion of settings, press the <Complete>.
Table 3.2.6 Items to be set on "Arm Limit Setting" Screen
Parameter Function
Radius Used to make setting of the radius of all axes.
Default value:
0.0
Start (X,Y,Z) Used to define the start point of the arm. (Based on the robot coordinate system)
Default value:
0.0
End (X,Y,Z) Used to define the end point of the arm. (Based on the robot coordinate system)
Default value:
0.0
Axis Designate the axis number that the arm will synchronize.
Fig. 3.2.7 Arm Limit Setting
J J 1 1
J
J
2
2
J
J
3
3
J
J
6
6
Length
Radius
Radius Radius
Length
Radius
Length
Length