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3.2
c
CAUTION
Set the Z-axis soft limits from outside the safety enclosure.
The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When
the actual working range of the robot is smaller than the maximum working envelope or the manipulator
interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working
envelope.
c
CAUTION
Overloads may occur if the soft limit is almost near the encoder pulse at the mechanical stopper and the
3
operating point is used at the edge of the movement range. Set the soft limit to the inner side of the mechanical
stopper with an ample safety margin.
3.3
c
CAUTION
Set the R-axis soft limits from outside the safety enclosure or after the emergency stop button has been pressed in
the same manner as the X-axis and Y-axis soft limits.
The R-axis has no mechanical stoppers. When the actual working range of the R-axis is small or it interferes
with the peripheral equipment, reduce the R axis plus (+) soft limit [pulse] and minus (-) soft limit [pulses] to
narrow the working envelope.
3.4
The tables below are for calculating resolver pulses with respect to the X, Y and R-axis movement angles and
to the Z-axis movement distance for each robot. Use these figures as a guide to set the soft limits.
X, Y and R-axis speed reduction ratio and Z-axis ball screw lead for each robot
X-axis
50
Operation angle/distance vs. number of resolver pulses
X, Y and R-axis speed reduction ratio
Speed ratio
12
50
3-28
Setting the Z-axis soft limits
Setting the R-axis soft limits
Relation between the X, Y, and R-axis movement angle,
the Z-axis movement distance and the number of pulses
Y-axis
Z-axis
50
12mm
Number of resolver pulses per turn (360 degrees)
245760
1024000
R-axis
12
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