S2C001: Cube Soft Limit Check - YASKAWA NX100 Operator's Manual

8 Parameter
8.4 Parameters according to Interference Area


S2C001: CUBE SOFT LIMIT CHECK

This parameter specifies whether to check the cube soft limit. More than one soft limit can be specified.
d7
If "WITH CHECK" is selected, set up the following parameters.
S3C000 to S3C023: Cube Soft Limit
Soft Limit
SUPPLE
-MENT
Soft limit is a software-type function to limit the range of movement of the manipulator.
If the TCP reaches the soft limit during operation, the manipulator automatically stops and
no longer moves in that same direction. An alarm occurs if this soft limit is exceeded
during playback. This soft limit is classified into two types.
• Cube Soft Limit
Soft limit is set with the absolute value on the base coordinates.
• Pulse Soft Limit (Independent Axis Soft Limit)
Refer to "S1CxG200 to S1CxG215: PULSE SOFT LIMIT."
 S2C002: S-AXIS INTERFERENCE CHECK
This parameter specifies whether to check for interference with each manipulator. If "WITH CHECK" is
selected, set up the following parameters.
S3C024 to S3C031: S-axis Interference Area
0 : No check
1 : With check
d0
Cube 1 soft limit (base coordinates value of robot 1 TCP)
Cube 2 soft limit (base coordinates value of robot 2 TCP)
Cube 3 soft limit (base coordinates value of robot 3 TCP)
Cube 4 soft limit (base coordinates value of robot 4 TCP)
x
8-27
z
Y
149235-1CD
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RE-CSO-A031