HOME
ID : 4648
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
HM; Standard Type
| Robot type | Standard type | |||||
|---|---|---|---|---|---|---|
| HM-4***1 | HM-4***A | HM-4***2 HM-4***2-UL |
HM-4***3 HM-4***3-UL |
HM-4***4 HM-4***4-UL |
||
| 3rd-axis (Z-axis) stroke | 100mm | 150mm | 200mm | 300mm | 400mm | |
| 1st axis | Positive direction | 165° | ||||
| Negative direction | -165° | |||||
| 2nd axis | Positive direction | 147° (HM-4*60*E: 143°) | ||||
| Negative direction | -147° (HM-4*60*E: -143°) | |||||
| 3rd axis | Positive direction | 350mm | 350mm | 350mm | 350mm | 350mm |
| Negative direction | 250mm | 200mm | 150mm | 50mm | -50mm | |
| 4th axis | Positive direction | 360° | ||||
| Negative direction | -360° | |||||
HM-W; Dust- & Splash-proof Type
| Robot type | Dust- & splash-proof type | |||
|---|---|---|---|---|
| HM-4***2-W HM-4***2-W-UL |
HM-4***3-W HM-4***3-W-UL |
HM-4***4-W HM-4***4-W-UL |
||
3rd-axis (Z-axis) stroke |
200 mm | 300 mm | 400 mm | |
| 1st axis | Positive direction | 165° | ||
| Negative direction | -165° | |||
| 2nd axis | Positive direction | 147° (HM-4*60*E-W: 140°, HM-4*70*E-W: 146°) | ||
| Negative direction | -147° (HM-4*60*E-W: -140°, HM-4*70*E-W: -146°) | |||
| 3rd axis | Positive direction | 310 mm | 310 mm | 310 mm |
| Negative direction | 110 mm | 10 mm | -90 mm | |
| 4th axis | Positive direction | 360° | ||
| Negative direction | -360° | |||
HM-C5 Clean room type
| Robot type | Clean room type | ||
|---|---|---|---|
| HM-4A852-C5 HM-4AA02-C5 |
HM-4A853-C5 HM-4AA03-C5 |
||
3rd-axis (Z-axis) stroke |
200 mm | 300 mm | |
| 1st axis | Positive direction | 165° | |
| Negative direction | -165° | ||
| 2nd axis | Positive direction | 147° | |
| Negative direction | -147° | ||
| 3rd axis | Positive direction | 310 mm | 310 mm |
| Negative direction | 110 mm | 10 mm | |
| 4th axis | Positive direction | 360° | |
| Negative direction | -360° | ||
HMS-4*70*; Overhead-mount Type (Overall arm length 700 mm)
| Robot type | Standard type | Dust- & splash-proof type | |||||
|---|---|---|---|---|---|---|---|
| HMS-4*702 HMS-4*702-UL |
HMS-4*703 HMS-4*703-UL |
HMS-4*704 HMS-4*704-UL |
HMS-4*702-W HMS-4*702-W-UL |
HMS-4*703-W HMS-4*703-W-UL |
HMS-4*704-W HMS-4*704-W-UL |
||
| 3rd-axis (Z-axis) stroke | 200 mm | 300 mm | 400 mm | 200 mm | 300 mm | 400 mm | |
| 1st axis | Positive direction | 165° | 165° | ||||
| Negative direction | -165° | -165° | |||||
| 2nd axis | Positive direction | 145° | 142° | ||||
| Negative direction | -145° | -142° | |||||
| 3rd axis | Positive direction | -436 mm | -456 mm | -456 mm | -496 mm | -496 mm | -496 mm |
| Negative direction | -656 mm | -756 mm | -856 mm | -696 mm | -796 mm | -896 mm | |
| 4th axis | Positive direction | 360° | |||||
| Negative direction | -360° | ||||||
HMS-4*85*; Overhead-mount Type (Overall arm length 850 mm)
| Robot type | Standard type | Dust- & splash-proof type | |||||
|---|---|---|---|---|---|---|---|
| HMS-4*852 HMS-4*852-UL |
HMS-4*853 HMS-4*853-UL |
HMS-4*854 HMS-4*854-UL |
HMS-4*852-W HMS-4*852-W-UL |
HMS-4*853-W HMS-4*853-W-UL |
HMS-4*854-W HMS-4*854-W-UL |
||
| 3rd-axis (Z-axis) stroke | 200 mm | 300 mm | 400 mm | 200 mm | 300 mm | 400 mm | |
| 1st axis | Positive direction | 165° | 165° | ||||
| Negative direction | -165° | -165° | |||||
| 2nd axis | Positive direction | 142° | 142° | ||||
| Negative direction | -142° | -142° | |||||
| 3rd axis | Positive direction | -436 mm | -456 mm | -456 mm | -496 mm | -496 mm | -496 mm |
| Negative direction | -656 mm | -756 mm | -856 mm | -696 mm | -796 mm | -896 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 : 4648
- Related Information
- Changing Software Motion Limits