Soft Limit - Okura Yusoki A Series Original Instructions Manual

5.9. Soft Limit

The directory to soft limit screen is as
follows.
System storage menu
↓
Robot data
↓
Soft limit
1． Soft limits
-This displays the range in which R, D, O
and T axis movement is possible, as an
angle
-The R-axis value is used for the R area
in 5
2. Teaching range
- This sets a movable range under the
automatic operation
- The range is to be indicated in arm
coordinate
- When the robot moves out of the
designated range, situation is to be "Out
of range error"
- During manual operation, the buzzer
sounds at the point of 200mm or 20
degree (30 for T-axis) to the range limit
3. Origin offset
-This is data for correcting the robot base posture (origin)
-This cannot be set or changed by the user.
- Numerical value is of the number of encoder pulse, meaning a deviation between the
encoder pulse origin and robot base posture (origin)
1. Acceleration/Deceleration time
-This sets the acceleration time and deceleration time for robot movement.(Unit :msec)
2. R area
- This is for informing the other control equipment of current R-axis angle
- For the R-axis angle, the range set with soft limit is divided into 7 segments
-These segments are labeled 1 -7 in order from minus side of R-axis angle
- As for the value indicating the segment in the system parameter, set a plus side border
angle in each segment 1 – 6
- A value is to be input in D6000 to indicate in which segment, 1 - 7, the robot is
3. Hand mass
- Set hand mass (work is not included)
- This is to be used for an automatic compensating calculation of handling rate
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