Denso VS-G Series Installation & Maintenance Manual page 47

Mechanical End Positions and Set Software Motion Limits
Positive-direction software
motion limit
Negative-direction software
motion limit
Examples
Positive-direction mechanical end
A B
0 90
Caution: If you set mechanical ends (in addition to the permanent
mechanical end), set the software motion limits 5° inside from
the mechanical ends (RANG value). If the software motion
limits are set merely less than 5° inside from the mechanical
ends, the robot may bump against the mechanical stops before
it stops by software.
(1) When the positive-direction
negative-direction ones are the permanent mechanical ends, change:
Positive-direction software motion limit = 0
RANG = value obtained in "Checking the set RANG value"
(2) When the positive-direction mechanical ends are the permanent mechanical
ends and the negative-direction mechanical ones are B', change:
Negative-direction software motion limit = -90
(3) When the positive-direction
negative-direction mechanical ends are A', change:
Positive-direction software motion limit = 90
RANG = value obtained in "Checking the set RANG value"
Negative-direction software motion limit = 0
(4) When the positive-direction
negative-direction mechanical ends are the permanent mechanical ends,
change:
Positive-direction software motion limit = -46
RANG = value obtained in "Checking the set RANG value"
(5) When the positive-direction mechanical ends are the permanent mechanical
ends and the negative-direction mechanical ends are B, change:
Negative-direction software motion limit = 136
Negative-direction mechanical end
A' B' A
-46 -136
46
mechanical
mechanical
mechanical
29
B A'
136 0
ends are A and
ends are B and
ends are A' and
B'
-90
the
the
the