Omron R6Y Series, Руководство пользователя

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CHAPTER 4 Adjustment
4 Setting the Soft Limits
In the X series, the working envelope during manual and automatic operation
can be limited by setting the plus soft limit [pulse] and minus soft limit [pulse]
on each axis.
The origin point ( 0 [pulse] ) is used as the reference to set the soft limits. The
working envelope can be limited by specifying the number of pulses from the
0 pulse position. Refer to the "OMRON Robot Controller User's Manual" for
further details. Also refer to "1-2 External view and dimensions" in Chapter 7
for robot working envelopes.
When performing actual checks of the soft limit settings, operate the robot
manually from outside the safeguard enclosure.
(1) Setting the X-axis and Y-axis soft limits
The soft limits must be set within the movement range limited by the
mechanical stoppers as explained in Section 7 in Chapter 3 or within the
range where the manipulator does not interfere with the peripheral equip-
ment (but within maximum working envelope). Set the soft limits with the
following procedure. Also use this procedure when the origin position has
been changed. Likewise, in models where the mechanical stopper position
cannot be changed, reduce the soft limits to narrow the working envelope
when the actual working range of the robot is small or the manipulator
interferes with the peripheral equipment.
1) Check that no one is inside the safeguard enclosure, and then turn on the
controller.
2) Press the emergency stop button on the PB to set emergency stop.
Refer to the "OMRON Robot Controller User's Manual" for further details
on emergency stop and canceling emergency stop.
3) Place a sign indicating the robot is being adjusted, to keep others from
operating the controller or operation panel.
4) Enter the safeguard enclosure while holding the PB.
5) Move the X-axis and Y-axis arms by hand to the mechanical stopper po-
sitions or to the point where interference with the peripheral equipment
occurs, and note the X-axis and Y-axis plus (+) and minus (-) direction
pulses displayed on the PB.
6) Check that no one is inside the safeguard enclosure, then cancel emergency
stop from outside the safeguard enclosure.
7) Set the soft limits to within the figure for the X-axis and Y-axis encoder
pulses that you noted above in step 5). This software limit setting must be
made from outside the safeguard enclosure.
Refer to the "OMRON Robot Controller User's Manual" for further details
on soft limit settings.