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STE 58760
－ －
2-17
(2) Whenever you press the "F6" key on the teach pendant, the monitor command menu
accordingly changes. Repeat this key operation until the "JLIMIT>" command appears on
the LCD display.
NEXT
F6
(3) Press the function key which accords with the "JLIMIT>" command. After that, the LCD
display on the teach pendant shows the following screen.
JLIMIT
F4
TRAVEL JOINT <NEGATIVE> <POSITIVE>
[mm] <T1> -5.868 111.000
or <T2> -138.000 138.000
[deg] <T3> -0.500 200.500
<T4> -400.000 400.000
<T5> -5729.578 5729.578
> _
N1-mem P1-mem N2-mem P2-mem N3-mem <next>
F1 F2 F3 F4 F5 F6
(4) Guide each axis of the robot to the position where the joint limit has been set.
(5) Store the joint limit position value of each axis.
After guiding each axis of the robot to the position where the joint limit has been set, store the
position value by pressing the related function key on the teach pendant. Above the function
keys, a menu such as "Pi-mem", "N1-mem" corresponding to the controller axes appears. The
first letter "P" and "N" represent + direction and - direction of each joint axis. In addition, the
letter following "P" or "N" accords with the robot joint number. Press the key corresponding to
the axis and direction where the joint limit is taught.