XYLim Method

Description
Sets the permissible motion range limits for the Manipulator.

Syntax
Sub XYLim ( XLowerLimit As Single, XUpperLimit As Single, YLowerLimit As Single, YUpperLimit As Single [, ZLowerLimit As Single ] [, ZUpperLimit As Single] )

Parameters

• XLowerLimit
  The minimum X coordinate position the robot can move to. (The robot cannot move to a position with an X coordinate less than this minimum X value.)
• XUpperLimit
  The maximum X coordinate position the robot can move to. (The robot cannot move to a position with an X coordinate larger than this maximum X value.)
• YLowerLimit
  The minimum Y coordinate position the robot can move to. (The robot cannot move to a position with a Y coordinate less than this minimum Y value.)
• YUpperLimit
  The maximum Y coordinate position the robot can move to. (The robot cannot move to a position with a Y coordinate larger than this maximum Y value.)
• ZLowerLimit
  The minimum Z coordinate position the robot can move to. (The robot cannot move to a position with a Z coordinate less than this minimum Z value.) Optional.
• ZUpperLimit
  The maximum Z coordinate position the robot can move to. (The robot cannot move to a position with a Z coordinate larger than this maximum Z value.) Optional.

Remarks
XYLim is used to define motion range limits. Many robot systems allow users to define joint limits but the SPEL+ language allows both joint limits and motion range limits to be defined. In effect this allows users to create a work envelope for their application.
The motion range established with XYLim values applies to motion command target positions only, and not to motion paths from starting position to target position. Therefore, the arm may move outside the XYLim range during motion. (i.e. The XYLim range does not affect Pulse.)
To turn off motion range limits, specify 0 for the range limit parameters.

See Also
JRange Method

XYLim Example
VB Example:

m_spel.XYLim(0, 0, 0, 0)  

C# Example:

m_spel.XYLim(0, 0, 0, 0);