Yamaha RCX141, User Manual

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4-
152
Operation
4
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 se-
lected axis is displayed in converted units on the 3rd line of the MPB screen.
[Procedure]
1) Select “3. +Soft limit [pulse]” or “4. -Soft limit [pulse]” in “SYSTEM>
PARAM>AXIS” mode.
2) Press the
F 1
(EDIT) key.
3) Select the axis with the cursor (
↑
/
↓
) keys.
Fig. 4-12-14 Setting the “+Soft limit [pulse]”
SYSTEM >PARAM>AXIS V8.30
3.+Soft limit[pulse] (112.50 mm)
M1= 100000 M2= 100000 M3= 100000
m4= 100000
[+/-6144000] Enter >_ 100000
4) Enter the value with
0
to
9
, and
.
,
–
keys and then press the
key. 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 the
ESC
key to quit the edit mode.
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.