LimZ

These commands are used to determine the default value of the Z joint height for Jump commands.

LimZ determines the maximum Z joint height which the arm move to when using the Jump instruction, wherein the manipulator arm raises on the Z joint, moves in the X-Y plane, then lowers on the Z joint. LimZ is simply a default Z joint value used to define the Z joint ceiling position for use during motion caused by the Jump instruction. When a specific LimZ value is not specified in the Jump instruction, the last LimZ setting is used for the Jump instruction.

Resetting LimZ to 0

Restarting the controller, or executing the SFree, SLock, Motor On commands will initialize LimZ to 0.

LimZ Value is Not Valid for Arm, Tool, or Local Coordinates

LimZ Z joint height limit specification is the Z joint value for the robot coordinate system. It is not the Z joint value for Arm, Tool, or Local coordinates. Therefore, take the necessary precautions when using tools or end effectors with different operating heights.

LimZ does not affect Jump3 and Jump3CP

LimZ has no effect on Jump3 or Jump3CP since the span motion is not necessarily perpendicular to the Z axis of the coordinate system.