10.4.1.21. LIMIT

Explanation	Statement that selects the maximum distance or speed for each movement when controlling the robot by reflecting the positional increment by the ServoFree or OnLTrack function.
Grammar	LIMIT POS,[+X=<+X distance>],[-X=<-X distance>],[+Y=<+Y distance>], [-Y=<-Y distance>],[+Z=<+Z distance>],[-Z=<-Z distance>] LIMIT VEL,[X=<X speed>],[Y=<Y speed>],[Z=<Z speed>], [RX=<RX speed>],[RY=<RY speed>],[RZ=<RZ speed>]
Parameter	POS/VEL	Restriction item. POS : Distance, VEL : Speed
	Distance limit	Arithmetic formula. The maximum distance for each movement when controlling the robot by reflecting the positional increment
	Speed limit	Arithmetic formula. The maximum speed for each movement when controlling the robot by reflecting the positional increment
Example	ServoFree ON,CRD=1,DIR=+Z,GAIN=1,F=1 'ServoFree function activating LIMIT POS,+Z=300 'The maximum distance for one movement in the +Z direction by ServoFree is restricted to 300mm LIMIT VEL,Z=50 'The maximum speed for one movement in the Z direction by ServoFree is restricted to 50mm/s MOVE P,S=60%,A=1,T=1 'Moves the robot by reflecting the positional increment due to the external force. ServoFree OFF 'ServoFree function ending

l Needs to be used appropriately as necessary because this is to be commonly used for ServoFree and OnLTrack.