IAI X-SEL PX, Руководство по эксплуатации, Страница: 377 / 560

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Part 4 Commands
(2) Soft limits of arm 2
The position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis
coordinate system (0 degree).
It is not influenced by the angle position of arm 1.
The operating angle in the counterclockwise direction (positive direction) from this home defines the +
soft limit (axis 2 in axis-specific parameter No. 7). The operating angle in the clockwise direction
(negative direction) from the home defines the – soft limit (axis 2 in axis-specific parameter No. 8).
(3) Soft limits of the Z-axis
The position where the mechanical stopper attached to the Z-axis is approx. 5 mm below the
mechanical end at the bottom of arm 2 is the home of the Z-axis on its axis coordinate system (0 mm).
This is the same position as where axis 3, which defines the base coordinate system, is at 0 mm.
(With cleanroom and dustproof/splash-proof specifications, the mechanical stoppers are housed
inside the bellows and therefore not visible.)
The downward direction (positive direction) from this home defines the + soft limit (axis 3 in axis-
specific parameter No. 7). The upward direction (negative direction) defines the – soft limit (axis 3 in
axis-specific parameter No. 8). (The directions are reversed for inverse specifications.)
Origin of Z-axis
coordinate system (0 mm)
(200 mm in the display
example in the PC software)
Soft limit +
+ Zb
Origin of arm-2 axis coordinate
system (0 degree)
Center of rotation of arm 2
Soft limit +
(147 degrees in the display
example in the PC software)
Soft limit –
(-147 degrees in the display
example in the PC software)
350
Part 4 Commands
(4) Soft limits of the R-axis
The position where the D-cut surface at the tip of the R-axis is facing toward the center of rotation of
arm 2 is the home of the R-axis on its axis coordinate system (0 degree). It is not influenced by the
positions of arm 1 and arm 2.
When limiting the operating range of the R-axis, the difference between the base coordinate system
and the axis coordinate system must be noted.
Example)
Limit the operating range of the R-axis to

180 degrees when the R-axis is currently positioned as
shown below (= limit the R-axis range to

180 degrees when axis 4 is at 0 on the base coordinate
system).
–180 degrees
(base coordinate)
Orientation of D-cut surface
–Xb direction
+180 degrees
(base coordinate)
–270 degrees
(axis system)
Orientation of D-cut surface
Orientation of center
of rotation of arm 2
+90 degrees
(axis system)
In this case, operation of the R-axis is limited within
a range of 90 degrees in the positive direction and
270 degrees in the negative direction from the origin
of the R-axis coordinate system.
Accordingly, the respective parameters are set as
follows:
Axis 4 in axis-specific parameter No. 7 = 90000
Axis 4 in axis-specific parameter No. 8 = -270000
+Xb
–Xb
Center of
rotation of R-axis
D-cut surface
Soft limit +
(720 degrees in the display
example in the PC software)
Center of rotation
of arm 2
Soft limit –
(-720 degrees in the
display example in
the PC software)
The operating angle in the
counterclockwise direction (positive
direction) from this origin defines the + soft
limit (axis 4 in axis-specific parameter No.
7). The operating angle in the clockwise
direction (negative direction) from the origin
defines the – soft limit (axis 4 in axis-
specific parameter No. 8).
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