Yamaha CEmarking RCX221, User Manual

Page: 226 / 468

4-158
Chapter
4
OPERA
TION
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
CAUTION
• This is a critical parameter for establishing the robot operating range so
set it to a correct value.
• On SCARA robots, make sure that the total movement range of the "+"
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.
• Software limits are disabled when origin return is incomplete.
Use caution during jog movement.
[Procedure]
1) Select "3. +Soft limit [pulse]" or "4. -Soft limit [pulse]" in "SYSTEM> PARAM>AXIS"
mode.
2) Press (EDIT).
3) Select the axis with the cursor (
↑
/
↓
) keys.
■
Setting the "+Soft limit [pulse]"
SYSTEM >PARAM>AXIS V9.00
3.+Soft limit[pulse] (112.50 mm)
M1= 100000 M2= 100000
[+/-6144000] Enter >_ 100000
4) Enter the value with to , and , and then press . If the
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 to quit the edit mode.