IAI PSEL, Руководство по эксплуатации

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1. Preparation in
Advance
64
[6] Soft Limit
The soft limit is set in axis-specific parameter No. 7 and 8. Below is an example of a screen
showing the soft limits for IX5020 (arm length 500mm, Z-axis 200mm).
The soft limit parameters are set by coordinate values according to each axis system.
Axis 1 corresponds to arm 1, axis 2 corresponds to arm 2, axis 3 corresponds to Z-axis, and
axis 4 corresponds to R-axis.
The setting units is [0.001deg] for arm 1, arm 2 and R-axis (rotational axis). The setting unit for
Z-axis is [0.001mm].
The soft limits are used to limit the range of operation of arm 1, arm 2, Z-axis or R-axis from
the coordinate home of each axis system. It is not affected by the work coordinates system or
tool coordinate systems.
(Note) These parameters have been set to the maximum limits of range of operation at the
factory. Do not set values that would enlarge the range of operation.
(1) Coordinates on each axis system and soft limits
[Soft limits for arm 1]
The arm 1 position at which the arm faces the +Xb direction defines the coordinate home of
the axis system of arm 1 (0deg).
This position is not affected by the arm 2 position.
Operating angles in the counterclockwise direction (positive direction) from this coordinate
home of axis system are limited by the soft limit+ (axis 1 of axis-specific parameter No. 7).
Operating angles in the clockwise direction (negative direction) are limited by the soft limit-
(axis 1 of axis-specific parameter No. 8).
Center of rotation of arm 1
Coordinate home of axis
system of arm 1 (0deg)
Soft limit+
Soft limit-
212deg in the
example of PC
software screen -32deg in the
example of PC
software screen