Software Motion Limits

To avoid damages that could be caused by collision or contact with mechanical ends, 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.

When the robot reaches the software motion limit while it is manually or automatically running, it will stop with an error message displayed. 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.

Factory Defaults

*1 Set 330 mm regardless of the optional rail length. Change this setting according to the use.

*2 The same value as the stroke length. Set 100 mm if the stroke length is 100 mm.

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. In the manual operation, move the robot arm in Joint mode.

Software Motion Limits Changing Procedure

Change the values in the software motion limit setting screen on the teach pendant and turn off the robot controller power and then on again.

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