2.5.3. LIMIT

Description	Function to set max. operation area and robot speed
Input	『[F6]: Enter Command』→『[F1]: Motion, I/O』→『LIMIT』
Syntax	LIMIT POS, +X=_,-X=_,+Y=_,-Y=_,+Z=_,-Z=_ LIMIT VEL, X=_,Y=_,Z=_,RX=_,RY=_,RZ=_
Parameter	POS	§ Setting of robot operation area under force control, based on the starting position of the force control [mm] § Reference coordinate system: Robot coordinate system
	VEL	§ Setting of max. robot operation speed under force control [mm/s], [deg/s] § Reference coordinate system: Coordinate system set using the Force Ctrl command (CRD).
Example	LIMIT POS,+X=500,-X=200,+Y=0,-Y=150,+Z=300,-Z=300 LIMIT VEL, X=200,Y=200,Z=200,RX=100,RY=100,RZ=100 ForceCtrl ON DELAY 10.0 ForceCtrl OFF
Note	§ The LIMIT command can be repetitively used between the Force Ctrl ON and Force Ctrl OFF, but the LIMIT POS is used to reset the operation area based on the robot position with Force Ctrl ON. § The LIMIT POS and the LIMIT VEL must be set based on the robot coordinate system, while the coordinate system (CRD) must be set with the Force Ctrl command. § Setting the LIMIT VEL to 0 means unforced control toward that direction. § The LIMIT VEL can be used to limit the speed to control the flexibility of the robot by direction. Low speed reduces the flexibility, which is similar to increasing the Dmp. Therefore, set the Dmp for the direction that requires the fastest response, and control the remaining directions using the LIMIT VEL.