Setting Of Operation Angle Limit - YASKAWA DX200 Instructions Manual

3 Setup of Hand Guiding Function
3.4

Setting of Operation Angle Limit

3.4 Setting of Operation Angle Limit
The operation angle to the rotation can be limited so that the robot is
prevented from contacting the external device when operating a robot by
using the hand guiding function.
When the angle reaches the limit value, the operation beyond over the
limit value is limited.
The operation angle limit is limited within the setting value of the user
variable I075-I080 as a relative angle from the time that the hand guiding
function is enabled.
User variable Variable name
I075 Rx+ limit angle
I076 Rx- limit angle
I077 Ry+ limit angle
I078 Ry- limit angle
I079 Rz+ limit angle
I080 Rz- limit angle
As shown in the setting of the initial value, when all settings
of I075-I080 are 0, the operation angle is not limited. When
NOTE
any one or more of I075-I080 is set, all setting values are
enabled.
If the value except for the possible values is input, when the general
output 4081 (#15110) of the hand guiding function enable signal is turned
ON, the following alarm is displayed.
8001: Parameter Setting error, Sub-code: Variable number
When the robot is in the limit angle position, the following signal is turned
ON.
General output
1017
1018
1019
1020
1021
1022
(e.g.) When the operation angle in the Rx- direction is limited to 90 [deg]
Sets 90 for the variable I076.
1
For the rotation operation, the rotation to Rx- direction is limited when
2
the rotation angle in the Rx direction is over -90 [deg].
Logical number Signal contents
#11280 RX+ signal of angle limit exceeded
#11281 RX- signal of angle limit exceeded
#11282 RY+ signal of angle limit exceeded
#11283 RY- signal of angle limit exceeded
#11284 RZ+ signal of angle limit exceeded
#11285 RZ- signal of angle limit exceeded
3-4
HW1485706
Possible value Initial value
0 - 180 [deg] 0 [deg]
0 - 180 [deg] 0 [deg]
0 - 180 [deg] 0 [deg]
0 - 180 [deg] 0 [deg]
0 - 180 [deg] 0 [deg]
0 - 180 [deg] 0 [deg]
HW1485706
22/58