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2.2
Modifying Software Motion Limits to Define New Motion
Space
2.2.1
What Is a Software Motion Limit?
A limit to the operation range of the robot defined by the software is called a software
motion limit. Software motion limits become valid after CAL of the robot has been
completed and the robot has entered the range set by the limits.
A mechanical operation limit is called a mechanical end and set by a mechanical stop.
To prevent the robot from striking against a mechanical stop, each software motion
limit is set slightly in front of the mechanical end as shown in the figure below. Although
there is no mechanical stop for the 6th axis, a software motion limit is set.
If the robot reaches a software motion limit during manual or automatic operation, an
error message will be displayed (error code starting from 6070; the first digit represents
the axis number) and the robot will come to a stop. The power to the motor is also
turned OFF in such a case during automatic operation.
All axes are assigned a software motion limit in both the positive and negative direction
of the operation range. The software motion limit in the positive direction is called the
positive-direction software motion limit and that in the negative direction is called the
negative-direction software motion limit.
2.2.2
Factory Defaults of Software Motion Limits
The table below lists the software motion limits that are set at the time of delivery.
Factory Defaults of Software Motion Limits (VP-G series)
Robot model
Positive direction
VP-6242G
Negative direction
Positive direction
VP-5243G
Negative direction
Software Motion Limits and Mechanical Ends
1st axis
2nd axis
160
120
-160
-120
160
120
-160
-120
9
3rd axis
4th axis
5th axis
160
160
19
-160
-120
136
-128
-120
6th axis
120
360
-360
120
360
-360
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