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ID : 2939
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.
Software motion limits are not functions in accordance with safety standards.
Factory Defaults of Software Motion Limits
HSA1 Series (Floor-mount type)
Standard Type and UL Type
| Robot type | HS035A1-N10-NNN | HS035A1-N15-NNN | HS035A1-N20-NNN | HS035A1-N32-NNN | |
|---|---|---|---|---|---|
| 3rd-axis (Z-axis) stroke | 100 mm | 150 mm | 200 mm | 320 mm | |
| 1st axis | Positive direction | 155° | |||
| Negative direction | -155° | ||||
| 2nd axis | Positive direction | 145° | |||
| Negative direction | -145° | ||||
| 3rd axis | Positive direction | 246 mm | 246 mm | 246 mm | 246 mm |
| Negative direction | 146 mm | 96 mm | 46 mm | -74 mm | |
| 4th axis | Positive direction | 360° | |||
| Negative direction | -360° | ||||
Dust- & splash-proof Type and Bellows Type and Cleanroom Type
| Type | Robot type | ||||
|---|---|---|---|---|---|
| Dust- & splash-proof | HS035A1-N10-W5N | HS035A1-N15-W5N | HS035A1-N20-W5N | HS035A1-N32-W5N | |
| Bellows | HS035A1-N10-JNN | HS035A1-N15-JNN | HS035A1-N20-JNN | HS035A1-N32-JNN | |
| Cleanroom | HS035A1-N10-C3N | HS035A1-N15-C3N | HS035A1-N20-C3N | HS035A1-N32-C3N | |
| 3rd-axis (Z-axis) stroke | 100 mm | 150 mm | 200 mm | 320 mm | |
| 1st axis | Positive direction | 155° | |||
| Negative direction | -155° | ||||
| 2nd axis | Positive direction | 145° | |||
| Negative direction | -145° | ||||
| 3rd axis | Positive direction | 206 mm | 206 mm | 206 mm | 206 mm |
| Negative direction | 106 mm | 56 mm | 6 mm | -114 mm | |
| 4th axis | Positive direction | 360° | |||
| Negative direction | -360° | ||||
Overhead-mount Type, Overall Arm Length 450 mm
Standard Type
| Robot type | HS045A1-S10-NNN | HS045A1-S15-NNN | HS045A1-S20-NNN | HS045A1-S32-NNN | |
|---|---|---|---|---|---|
| 3rd-axis (Z-axis) stroke | 100 mm | 150 mm | 200 mm | 320 mm | |
| 1st axis | Positive direction | 152° | |||
| Negative direction | -152° | ||||
| 2nd axis | Positive direction | 141° | |||
| Negative direction | -141° | ||||
| 3rd axis | Positive direction | -431 mm | -431 mm | -431 mm | -431 mm |
| Negative direction | -531 mm | -581 mm | -631 mm | -751 mm | |
| 4th axis | Positive direction | 360° | |||
| Negative direction | -360° | ||||
Dust- & splash-proof Type and Bellows Type
| Type | Robot type | ||||
|---|---|---|---|---|---|
| Dust- & splash-proof | HS045A1-S10-W5N | HS045A1-S15-W5N | HS045A1-S20-W5N | HS045A1-S32-W5N | |
| Bellows | HS045A1-S10-JNN | HS045A1-S15-JNN | HS045A1-S20-JNN | HS045A1-S32-JNN | |
| 3rd-axis (Z-axis) stroke | 100 mm | 150 mm | 200 mm | 320 mm | |
| 1st axis | Positive direction | 152° | |||
| Negative direction | -152° | ||||
| 2nd axis | Positive direction | 141° | |||
| Negative direction | -141° | ||||
| 3rd axis | Positive direction | -471 mm | -471 mm | -471 mm | -471 mm |
| Negative direction | -571 mm | -621 mm | -671 mm | -791 mm | |
| 4th axis | Positive direction | 360° | |||
| Negative direction | -360° | ||||
Overhead-mount Type, Overall Arm Length 550 mm
Standard Type
| Robot type | HS055A1-S10-NNN | HS055A1-S15-NNN | HS055A1-S20-NNN | HS055A1-S32-NNN | |
|---|---|---|---|---|---|
| 3rd-axis (Z-axis) stroke | 100 mm | 150 mm | 200 mm | 320 mm | |
| 1st axis | Positive direction | 155° | |||
| Negative direction | -155° | ||||
| 2nd axis | Positive direction | 145° | |||
| Negative direction | -145° | ||||
| 3rd axis | Positive direction | -431 mm | -431 mm | -431 mm | -431 mm |
| Negative direction | -531 mm | -581 mm | -631 mm | -751 mm | |
| 4th axis | Positive direction | 360° | |||
| Negative direction | -360° | ||||
Dust- & splash-proof Type and Bellows Type
| Type | Robot type | ||||
|---|---|---|---|---|---|
| Dust- & splash-proof | HS055A1-S10-W5N | HS055A1-S15-W5N | HS055A1-S20-W5N | HS055A1-S32-W5N | |
| Bellows | HS055A1-S10-JNN | HS055A1-S15-JNN | HS055A1-S20-JNN | HS055A1-S32-JNN | |
| 3rd-axis (Z-axis) stroke | 100 mm | 150 mm | 200 mm | 320 mm | |
| 1st axis | Positive direction | 155° | |||
| Negative direction | -155° | ||||
| 2nd axis | Positive direction | 145° | |||
| Negative direction | -145° | ||||
| 3rd axis | Positive direction | -471 mm | -471 mm | -471 mm | -471 mm |
| Negative direction | -571 mm | -621 mm | -671 mm | -791 mm | |
| 4th axis | Positive direction | 360° | |||
| Negative direction | -360° | ||||
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.
Newly programmed software motion limit will be valid after restart of the controller.
ID : 2939
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- Changing Software Motion Limits