Omron R6YXG500, Руководство по установке

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3
Robot settings
3-35
3. Setting the soft limits
In the XG 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.
CAUTION
When performing actual checks of the soft limit settings, operate the robot manually from outside the safety enclosure.
NOTE
Refer to the "omRon Robot Controller User's manual" for further details.
Also refer to "1.2 External view and dimensions" in Chapter 8 for the working envelope area.
3.1 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 "7. Limiting the
movement range with X-axis and Y-axis mechanical stoppers" in Chapter 2 or within the range where the manipulator
does not interfere with the peripheral equipment (but within maximum working envelope).
Similarly, set the soft limits 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
envelope of the robot is small or the manipulator interferes with the peripheral equipment.
Follow the steps below to set the soft limits.
1
Turn on the controller.
Check that no one is inside the safety enclosure, and then turn on the controller.
2
Press the emergency stop button.
press the emergency stop button on the pbEX/pb to put the robot in the emergency stop status.
NOTE
For details about emergency stop and how to cancel the emergency stop, see the "omRon Robot Controller User's manual".
3
Place a sign indicating the robot is being adjusted.
Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
4
Enter the safety enclosure while holding the PBEX/PB.
5
Move the X-axis and Y-axis arms by hand.
Move the X-axis and Y-axis to the mechanical stopper positions or to the point where interference with the peripheral
equipment occurs.
6
Note the pulse values.
Read the X-axis and Y-axis plus (+) and minus (-) direction pulses displayed on the pbEX/pb in step 6 and note them.
CAUTION
• before cancelling the emergency stop, check from outside the safety enclosure that no one is inside the safety enclosure.
• Set the soft limits from outside the safety enclosure.
7
Set the soft limits.
Set the soft limits to within the figure for the X-axis and Y-axis encoder pulses that you have noted in step 6.
NOTE
For details about how to set the soft limits, see the "omRon Robot Controller User's manual".
CAUTION
The origin position factory-adjusted at shipment is not completely aligned with the front face position of the robot. When installing the
robot, be sure to set the soft limits with the number of pulses from the origin position (0 pulse position).