Motion Range Area Settings

These commands are used to specify the motion range area.

Many robot systems allow users to define joint limits, but these commands allow both joint limits and motion limits to be defined. In effect, this allows users to create a work envelope for their application.

The motion range established 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.

Robot parameter data is stored to the memory card in the Controller. Therefore, execution of the command writes to the memory card. Frequent writing to the memory card affects its product life. It is recommended to minimize the execution of the command.

• Turning Off Motion Range Checking
  There are many applications which do not require Motion Range area setting. For that reason, there is a simple method to turn this setting off.
  To turn off the setting, set the parameters (X axis lower limit / upper limit, Y axis lower limit / upper limit positions) to 0.
• Default Motion Range Limit Values
  The default values are “0, 0, 0, 0”. (Motion Range Limit Checking is OFF.)