Pulse Value Setting for Allowable Motion Area of Specified Joint

These commands define the motion range for the specified joint with upper and lower limits in encoder pulse counts. While the Range command requires range settings for all six joints, the JRange command can set each joint’s working limits individually. This reduces the number of parameters required.

Robot parameter data is stored on 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.

• Lower Limits Must Not Exceed Upper Limits:
  The lower limit defined in the command must not exceed the upper limit. A lower limit in excess of the upper limit will cause an error, making it impossible to execute a motion command.

• Factors to Change the Setting Values:
  Once values are set, they will be kept until the user modifies the values by commands. Turning controller power off will not change the values.

• Maximum and Minimum Working Ranges:
  Refer to the specifications in the Manipulator manual for maximum working ranges for each manipulator model since these vary from model to model.