ID : 7264

Soft Axis Limiting (SAL)

Function

To monitor the angle of each axis and turn the motor power off if the motor angle exceeds the predetermined limit.
This function requires COBOTTA software version 2.6.* or higher.

Set SAL so that its range is allocated to the outside of the software motion limit.
We recommend you set the range to position the software motion limit inside, SAL in both sides of the software motion limit, and mechanical ends in outer most ends of the range.

With the COBOTTA parameter tool, setting SAL automatically sets the software motion limit 6 [deg] inward. Customers can also arbitrary configure the setting.

Config

Input Signal/Operations	None
Output Signal	STO monitor output
Monitoring target	Each robot axis
Monitoring area setting	None
Reaction time	1200ms(Max)
Process Safety Time (PST)	1320ms
Timing to start the function	Monitored always

Range of the angle limit of SAL
	J1	J2	J3	J4	J5	J6
Maximum value	160 [deg]	110 [deg]	150 [deg]	180 [deg]	145 [deg]	180 [deg]
Minimum value	-160 [deg]	-70 [deg]	8 [deg]	-180 [deg]	-105 [deg]	-180 [deg]

During the following time, SAL will become disabled.

From the startup of COBOTTA until the motion preparation is completed.
From the state where motion preparation is necessary until the motion preparation is completed.

For the motion preparation, refer to "Motion Preparation".

ID : 7264