Setting the Rectangular Range in the XY Coordinate System of the Manipulator

The Cartesian (rectangular) range in the XY coordinate system of the Manipulator is specified by the limited Manipulator operation area and the XYLIM setting. The limited Manipulator operation area is defined so that the hand does not interfere with the rear side of the Manipulator. The XYLIM setting that you can determines the upper and lower limits of the X and Y coordinates.

These settings are software-based limit, and so it does not change the maximum physical range. The maximum physical range is based on the position of the mechanical stops.

These settings are disabled during a joint jogging operation. Therefore, be careful not to allow the hand to collide with the Manipulator or peripheral equipment.

Go to [Tools] - [Robot Manager] - [XYZ Limits] panel, and make the setting. This can also be set using the XYLim statement in [Command Window].