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3.
Software limits
The software limits for the CR_UGD4MINI robot are shown below.
WARNING
α-
β-
γ-
IF THE
OR
AXIS SOFT LIMIT IS SET INCORRECTLY, THE ARM MAY COLLIDE WITH THE ROBOT BASE OR BASE
,
PREPARED BY THE USER, CAUSING BREAKAGE. SO, BE SURE TO SET THE SOFT LIMITS CORRECTLY.
NOTE
Robots with serial number 1784 or lower have the next Software limits: Minus direction soft limit: [-32º with rotational axis/-49º
without rotational axis], Plus direction soft limit: [102º with rotational axis/107º without rotational axis].
Minus direction
soft limit
[-33° with rotational axis/
-45º without rotational axis]
Plus direction
soft limit [111°]
5
5-3
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