10.5.1.20. LIMIT
10.5.1.20. LIMIT
Explanation | Statement for designating the robot’s movement distance and speed when controlling the robot by reflecting the position increment through the SoftXYZ, SoftJoint, RHemming, ForceCtrl, and OnLTrack functions. | |
Syntax | LIMIT POS,[+X=<+Xdistance>],[-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>] LIMIT SFT,[S=<S softness>],[H=<H softness>],[V=<V softness>], [R2=<R2softness>],[B=<B softness>],[R1=<R1 softness>] LIMIT THR,[S=<S threshold>],[H=<H threshold>],[V=<V threshold>], [R2=<R2 threshold>],[B=<B threshold>],[R1=<R1 threshold>] LIMIT ANG,[S=<S angle>],[H=<H angle>],[V=<V angle>], [R2=<R2 angle>],[B=<B angle>],[R1=<R1 angle>] LIMIT XnR,[X=<X distance>],[Y=<Y distance>],[Z=<Z distance>], [RX=<RX angle>],[RY=<RY angle>],[RZ=<RZ angle>] | |
Parameter | POS | Sets the robot’s maximum movement distance (X,Y,Z directions) |
VEL | Sets the robot’s maximum operating speed (X,Y,Z,Rx,Ry, Rz directions) | |
SFT | Sets the robot’s softness of each axis (S,H,V,R2,B,R1 axes) | |
THR | Sets the robot’s threshold of each axis (S,H,V,R2,B,R1 axes) | |
ANG | Sets the robot’s rotational angle of each axis (S,H,V,R2,B,R1 axes) | |
XnR | Limits the robot’s maximum movement distance and angle (X,Y,Z,Rx,Ry,Rz) Designated values will be applied equally in the + and – directions. The robot’s maximum operation area is determined by the union of POS and XnR. | |
Example | LIMIT POS,+Z=300 ' Sets 300m as the maximum movement distance in the +Z direction LIMIT VEL,Z=40 ‘Sets 40mm/s as the maximum movement speed in the Z direction LIMIT SFT,B=50‘Sets 50 as the B axis softness LIMIT THR,H=10‘Sets 10% of the maximum torque as the H axis threshold LIMIT ANG,S=10‘Sets -10 ~ 10 deg as the S axis maximum rotational angle LIMIT XnR,X=200 ‘Sets -200mm~200mm as the maximum movement distance in the X direction |
l Needs to be used properly when necessary considering that this function is commonly used for SoftXYZ, SoftJoint, RHemming, ForceCtrl and OnLTrack.