YASKAWA YRC1000, Instructions Manual

Page: 166 / 454

System Setup
9
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9.10 Soft limit release function
The switches that are set to detect the motion range of the robot are called limit switches.
The operating range is monitored by the software in order to stop motion before these limit
switches are reached. These software limits are called “soft limits”. The operating range of
the robot is controlled by the following two soft limits.
•
Maximum motion range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system, and the robot automatically stops
when the its TCP reaches a soft limit.
When the robot is stopped at a soft limit, temporarily release the soft limit by the following
procedure, then move the robot away from the soft limit in a direction opposite to the earlier
operation direction.
1. Select {ROBOT} from the main menu.
2. Select {LIMIT RELEASE}.
–
The LIMIT RELEASE window appears.
3. Select "SOFT LIMIT RELEASE".
–
Each time [SELECT] is pressed, “INVALID” and “VALID” are displayed alternately.
– When “SOFT LIMIT RELEASE” is set to “VALID”, a message “Soft limits have been
released” appears.
– When “SOFT LIMIT RELEASE” is set to “INVALID”, the message “Softlimits off
released” is displayed for a few seconds.
NOTICE
The taught data cannot be registered when the soft limit is being released.
The setting of “SOFT LIMIT RELEASE” becomes “INVALID” when the mode is changed to
the play mode.