YASKAWA Motoman UP6 Instructions Manual page 249

3.16 Temporary Release of Soft Limits
The switches that are set to detect the working envelope 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 working range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system. When it is detected that the manip-
ulator (tool center point) has reached a soft limit, the manipulator automatically stops.
When the manipulator is stopped at a soft limit, temporarily release the soft limit by following
the procedure below, then move the manipulator away from that which exceeded the soft limit.
Operation
Select {ROBOT} under the top menu
*2
LIMIT RELEASE"
Explanation
*1
The limit release display is shown.
Select {LIMIT RELEASE}
D A T A
EDIT DISPLAY
LIMIT RELEASE
SOFT LIMIT RELEASE
ALL LIMITS RELEASE
!
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3.16 Temporary Release of Soft Limits
*1
UTILITY
L
R1 C
S
INVALID
INVALID
Select "SOFT