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STE 58760
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2-16
2.6 MOTION RANGE LIMIT
In executing the automatic operation or in teaching a position, the operation range and the teaching
range of the robot can be limited. When they are limited, the robot is not moved to a position out of
the operation range in the automatic operation, so that the position out of the operation range
cannot be taught. The limitation of the operation range is called the joint limit. The joint limit
should be set in two directions of + direction and - direction of each joint.
The joint limit can be set in the following two methods. 1st method: Guide the robot and teach
positions. 2nd method: Input the position of each joint with numeric values from the teach
pendant.
When a joint limit is changed, software which used to work may not work anymore. Thus, any joint
limit should not be unintentionally changed.
Each joint limit has been set to the maximum motion range at the factory. Unless there is
necessity to change a joint limit, use it as it has been set at the factory.
Note)
The joint limit values are stored in the user parameter file (USER. PAR). Before the operator
changes the joint limit values, it is recommended to back up the user parameter file. For an
instruction of how to back up the file, see 5.5, "Backing Up Files".
2.6.1 Setting Joint Limit Values by Teaching
The joint limit values are taught in the following manner.
(1) Check that controller monitor command menu appears at the bottom of the LCD display on
the teach pendant.
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FORMAT VERIFY ZEROP> JLIMIT> CHANNEL NEXT
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