LIMIT SET SCREEN


LIMIT SET SCREEN

1.  LIMIT SET SCREEN

The limit set function allows you to determine the software axis limits for a robot automatically, and to determine the mechanical stopper locations. If you want to set the axis limits without the limit set function, you must run all programs step-by-step, record the maximum value for each angle, and then set the axis joint limits manually.

The limit set function reads all of the programmed positions on the robot automatically and determines the maximum and minimum taught joint angles used in all programs. It then takes this information and sets the specified joint limits automatically, while taking into account a limit buffer you specify. The limit set function also reports the appropriate angles for the mechanical stoppers.

By default, software axis limits will be set only for axes 1, 2, and 3. You can specify that they be set for more axes, if desired.

Using the Limit Setting Function

  1. To view the currently active settings, press PREV. To return to this menu, press PREV again.

  2. To select a motion group for limit setting, press F2, GROUP, type the desired group number, and press ENTER.

  3. To select an axis for limit setting

    1. Move the cursor to the number of the axis you want to select.

    2. Press F4, YES, to select the axis to set. If you press F5, NO, the limit will not be set for that axis.

  4. To set the limits buffer, move the cursor to Limits Buffer, type the number of degrees, and press ENTER.

  5. To set the axis limits, press F3, EXECUTE.

    After the limits have been detected, the results will be displayed.

    The MECHANICAL STOPPER LOCATION provides the minimum and maximum angles at which the mechanical stoppers can be placed for the specified axis. Refer to the applicable robot mechanical manual for diagrams of these locations.

    Note

    The following operation is not supported on some robot models.

  6. To reset the axis limits to their factory settings, press F6, DEFAULT.

    Note

    You must always cycle power on the controller in order for software axis limit changes to take effect.

  7. When you are finished setting axis limits, cycle power on the controller so that the new software axis limits can take effect.