Soft Limit Release Function - YASKAWA DX100 Instructions Manual

DX100
8.10
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8 System Setup

8.10 Soft Limit Release Function

Soft Limit Release Function
The switches that are set to detect the motion range of the manipulator
are called limit switches. The operating range is monitored by the software
in order to stop motion before these limit switches are reached. These
software limits are called "soft limits". The operating range of the
manipulator is controlled by the following two soft limits.
• Maximum motion range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system, and the
manipulator automatically stops when the its TCP reaches a soft limit.
When the manipulator is stopped at a soft limit, temporarily release the
soft limit by the following procedure, then move the manipulator away from
the soft limit in a direction opposite to the earlier operation direction.
1. Select {ROBOT} under the main menu.
2. Select {LIMIT RELEASE}.
– The LIMIT RELEASE window appears.
3. Select "SOFT LIMIT RELEASE".
– Each time [SELECT] is pressed, "VALID" and "INVALID" switch
alternately.
– When "SOFT LIMIT RELEASE" is set to "VALID", a message "Soft
limits have been released" appears.
– When "SOFT LIMIT RELEASE" is set to "INVALID," a message
"Softlimits off released" is displayed for a few seconds.
• The taught data cannot be registered when the soft limit
is being released.
NOTE
• The setting of "SOFT LIMIT RELEASE" becomes
"INVALID" when the mode is changed to the play mode.
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