*Note* This is not a safety function that can apply to protection measures.
Setting of stop mode The stop mode when the TCP reaches the position limit is set here.
1. Click [Parameter setting] on the menu.
2. Click [Protective function setting] > [Position limit] on the parameter group.
3. Set the stop mode of the robot with the “TCP position limit operation setting” parameter. In this case, set "Stop with alarm.
Setting of movable area Set the movable area of the TCP.
1. Click the [Teaching] icon on the toolbar. The teaching screen appears.
2. Using JOG operation or inching operation, move the TCP to the maximum position in the X-axis direction.
3. Check the value of the present position X, and set to the "TCP position limit X+" parameter.
4. Using JOG operation or inching operation, move the TCP to the minimum position in the X-axis direction.
5. Check the value of the present position X, and set to the "TCP position limit X−" parameter.
6. As in Steps 2 through 5, set the movable area of Y axis to the “TCP position limit Y” parameter and that of Z axis to the “TCP position limit Z” parameter.
7. Click the [Writing] icon on the toolbar. The parameters having set are written to the controller.
MEMO
The position limit can also be set for each axis and an end effector. Set the “Axis position limit” parameter as necessary.