Changing the Software Motion Limits

To avoid damages that could be caused by collision or contact with mechanical stoppers, configure the motion space by setting the software motion limits on individual axes.

By default, the software motion limits are configured slightly inside the mechanical ends.

If the robot arm reaches a software motion limit during manual or automatic operation, the robot displays an error message and comes to a stop. If the robot is in automatic operation, it also cuts off the power to the motors.

This function becomes valid after the robot arm enters the motion space configured by the software motion limits.

Precautions When Changing the Software Motion Limits

Confirm the robot motion range in actual working environment. Set the software motion limits using the correct unit of measurement.

If the robot arm lies in the position overriding the software motion limits, e.g., immediately after change of the software motion limits, only a manual operation that moves the robot arm towards the motion space is possible. Move the robot arm in Joint mode.

Software Motion Limits Changing Procedure

In order to change the setting, change the value on the display of the software motion limit on the teach pendant, then, restart the controller.

For details of operation, refer to the "Displaying and Setting the Software Motion Limit"of TEACH PENDANT GUIDE.