Tool Limit Setting - Nachi RMU20-20 Instruction Manual

3.2.4

Tool limit setting

The tool limit setting function is used to make setting of sphere and form (cylinder or rectangular)
by tool as limit objects.
It enables individual limit settings of a maximum of 20 spheres, 1 cylinder, and 1 rectangular by
tool for nine tools.
If any of the sphere, cylinder, and rectangular limits reaches the limit range, an error will occur.
For a robot used for handling application, it is recommended to use different tool numbers for
operating the robot only for handling and for operating it with work-piece. Furthermore,
depending on with or without work-piece, make settings of sphere and form according to the
work-piece size.
1
Rectangular
Open <Constant Setting> - [3 Machine constants] - [33 Virtual Safety Fence] [2
Tool limit setting] menu.
>> The Setting screen shown below will appear.
* "Center xyz" of the spheres represents distances from the tool installation
flange, respectively.
Sphere
3.2Operation procedure
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