YASKAWA YRC1000, Instructions Manual

Page: 167 / 454

System Setup
9
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9.11 All limit release function
WARNING!
Risk of injury due to crushing, material damage due to sudden robot movements
To operate the robot with all limits released, pay extra attention to ensure the safety of the
surrounding operation environment.
The following limits can be released with the all limit release function:
NOTICE
All limit release function is not available if the SECURITY mode is not in the
MANAGEMENT mode.
Refer to chapter 8 "Security system" for details on the SECURITY modes.
1. Select {ROBOT} from the main menu.
2. Select {LIMIT RELEASE}.
–
The LIMIT RELEASE window appears.
3. Select “ALL LIMITS RELEASE”.
–
“VALID” and “INVALID” are displayed alternately every time [SELECT] is pressed.
– When ALL LIMITS RELEASE is changed to “VALID,” the message “All limits have been
released” appears. When the setting changes to “INVALID”, the message “All limits off
released” is displayed for a few seconds.
Limit type Content
Mechanical limit Limit to check robot’s range of motion.
L-U interference Limit to check L- and U-axis interference area.
Soft limit on each axis Soft limit to check robot’s range of motion.
Cube interference Limit to check cube interference area set by user.