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. Although there is no mechanical stop for the 4th axis (T-axis), a software motion limit is set.

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 (Factory defaults)

1st axis (X-axis)

2nd axis (R-axis)

3rd axis (Z-axis)

4th axis (T-axis)

Precautions When Changing the Software Motion Limits

Before changing the software motion limit for the 2nd axis (R-axis), determine the mechanical stop positions and select the motion space of the R-axis.

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

If the operating space is too small, the robot may seem to become inoperable.

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 OPERATION GUIDE.