IAI PSEL, Руководство по эксплуатации

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1. Preparation in
Advance
65
[Soft limits for arm 2]
The arm 2 position at which the arm forms a straight line with arm 1 defines the coordinate
home of the axis system of arm 2 (0deg).
This position is not affected by the arm 1 position.
Operating angles in the counterclockwise direction (positive direction) from this coordinate
home of axis system are limited by the soft limit+ (axis 2 of axis-specific parameter No. 7).
Operating angles in the clockwise direction (negative direction) are limited by the soft limit-
(axis 2 of axis-specific parameter No. 8).
[Soft limits for Z-axis]
The Z-axis position at which the mechanical stopper attached to the Z-axis is approx. 5mm
below the mechanical end at the bottom of arm 2 defines the coordinate home of the axis
system of Z-axis (0mm). This position is the same as the Axis 3 = 0mm position on the base
coordinate system. (On actuators of clean-room specification and dust-proof/splash-proof
specification, this mechanical stopper is not visible because it is located inside bellows.)
Movements in the downward direction (positive direction) from this coordinate home of axis
system are limited by the soft limit+ (axis 3 of axis-specific parameter No. 7). Movements in
the upward direction (negative direction) from this coordinate home of axis system are limited
by the soft limit- (axis 3 of axis-specific parameter No. 8). (The relationship is reversed on
actuators of inverse specification.)
Center of rotation of arm 2
Coordinate home of axis
system of arm 2 (0deg)
Soft limit+ Soft limit-
147deg in the
example of PC
software screen
-147deg in the
example of PC
software screen
Coordinate home of axis
system of Z-axis (0mm)
Soft limit+
200mm in the
example of PC
software screen