XYLim VI
Tool Palette
Epson Robots 8.0 | Robot Settings
Description
Sets the permissible motion range limits for the Manipulator.
Inputs
| Spel Ref In | Spel reference from a previous Spel Ref Out. |
| Error In | Error condition from a previous Spel node. |
| Min X | The minimum X coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the X Coordinate less than min X.) |
| Max X | The maximum X coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the X Coordinate greater than max X.) |
| Min Y | The minimum Y coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Y Coordinate less than min Y.) |
| Max Y | The maximum Y coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Y Coordinate greater than max Y.) |
| Min Z | The minimum Z coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Z Coordinate less than min Z.) |
| Max Z | The maximum Z coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Z Coordinate greater than max Z.) |
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. (Keep in mind that joint range limits are also definable with SPEL.)
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.
If an error occurs and the ErrorNumber property of the SpelException is 3101, see the comments in the SetPoint VI.
Outputs
| Spel Ref Out | Spel reference output for next VI to use. |
| Error Out | Error condition output for subsequent Spel nodes. |
See Also
Box VI, SetPoint VI
XYLim Example
