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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.