Yamaha RCX240, User Manual

Page: 276 / 620

4
1
2
3
5
6
7
8
9
10
4-198
Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
4-199
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.
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.
ＳＹＳＴＥＭ ＞ＰＡＲＡＭ＞ＡＸＩＳ Ｖ１０．０１
３．＋Ｓｏｆｔ ｌｉｍｉｔ［ｐｕｌｓｅ］ （１１２．５０ ｍｍ）
Ｍ１＝ １０００００ Ｍ２＝ １０００００ Ｍ３＝ １０００００
m４＝ １０００００
［＋／−６１４４０００］ Ｅｎｔｅｒ ＞１０００００
Setting the "+Soft limit [pulse]"
w
WARNING
MAkE SURE TO SET THE SOFTWARE LIMIT WITHIN THE OPERATING RANGE (DETERMINED
BY THE MECHANICAL STOPPER) OF THE AXIS. IF IT IS SET OUTSIDE THE OPERATING
RANGE, THE AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED,
RESULTING IN THE BREAkDOWN OF THE ROBOT AND THE SCATTERING OF THE
WORkPIECE WHICH WAS HELD BY THE END EFFECTOR.
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.