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2.2
Modifying Software Motion Limits to Define New Motion
Space
2.2.1
What Is a Software Motion Limit?
A limit to the operation range of the robot defined by the software is called a software
motion limit. Software motion limits become valid after CAL of the robot has been
completed and the robot has entered the range set by the limits.
A mechanical operation limit is called a mechanical end and set by a mechanical stop.
To prevent the robot from striking against a mechanical stop, each software motion
limit is set slightly in front of the mechanical end as shown below. Although there is no
mechanical stop for the 6th axis, a software motion limit is set.
If the robot reaches a software motion limit during manual or automatic operation, an
error message will be displayed (error code starting from 6070; the first digit represents
the axis number) and the robot will come to a stop. The power to the motor is also
turned OFF in such a case during automatic operation.
All axes are assigned a software motion limit in both the positive and negative direction
of the operation range. The software motion limit in the positive direction is called the
positive-direction software motion limit and that in the negative direction is called the
negative-direction software motion limit.
Motion range
Restricted range
Software Motion Limits and Mechanical Ends
24
Software motion limit
Mechanical end
NLIM (Negative-direction software
motion limit)
PLIM (Positive-direction software
motion limit)
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