3
Robot settings
3-9
3. Setting the soft limits
With the R6Y3 robot, by setting the plus and minus soft limits [°] for each axis with the origin position (0°) as the
reference, the movement range is limited by setting the movement angle from the 0° position.
Refer to the controller user’s manual when setting the soft limits.
CAUTION
When performing actual checks of the soft limit settings, operate the robot manually from outside the safety enclosure.
NOTE
Refer to "1.2 External view and dimensions" in Chapter 5 for the robot movement range.
3.1
Setting the
α, β and γ-axis
soft limits
Set the soft limits within the movement range or within the range where the robot does not interfere with peripheral
equipment (but within movement range).Furthermore, reduce the soft limits to narrow the movement range when the
actual movement range of the robot is small or it interferes with the peripheral equipment.
The reference values for the soft limits are as follows.
Plus direction soft limit [° ]
Minus direction soft limit [° ]
Speed reduction ratio
α-axis
110
-60
1/33
β-axis
110
-60
1/33
γ-axis
110
-60
1/33
CAUTION
If the
α-, β-
or
γ-
axis soft limit is set incorrectly, the arm may collide with the robot base or base prepared by the user, causing breakage.
So, be sure to set the soft limits correctly.
Minus direction
soft limit [°]
Plus direction
soft limit [°]
