Other Functions; Soft Limit Function; Zone Output Function - Yamaha TS-P User Manual

5.7 Other functions

5.7.1 Soft limit function

Software imposed limits can be applied to the robot's range of motion in order to
prevent interference with peripheral equipment. Robot movement is then restricted
to target positions which are within the range specified by the soft limit function.
The soft limit range can be set at the K1 (soft limit (-)) and K2 (soft limit (+)) RUN
parameters.
Mechanical end
Movement range imposed by soft limit
Soft limit (-) (K1)
(1) Movement from a stop position within the soft limit to a target position within the
soft limit (permitted).
(2) Movement from a stop position within the soft limit to a target position outside
the soft limit (prohibited).
(3) Movement from a stop position outside the soft limit to a target position within
the soft limit (permitted).

5.7.2 Zone output function

This function outputs information which indicates whether or not the robot's current
position is within a specified zone, and it can be used to check the robot's position
from a host unit, or to recognize zones where movement is permitted or prohibited,
etc. The zone boundaries can be set by the K7 (Zone -) and K8 (Zone +) RUN
parameters.
Zone output (ZONE)
Zone (-)
(K7)
The zone output function is disabled if a return-to-origin has not yet been completed.
NOTE
Mechanical end
Position
Soft limit (+) (K2)
Zone (+)
(K8)
Chapter 5 Operation

5.7 Other functions

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