JRange Statement

Defines the permissible working range of the specified joint in pulses.

Syntax
JRange jointNumber, lowerLimit, upperLmit

Parameters

jointNumber

Set the joint number specified by JRange as an integer value from 1 to 9. Additional S axis is 8 and T axis is 9.

lowerLimit

Specify the lower limit pulse value of the motion range of the specified joint by an expression or a numerical value.

upperLimit

Specify the upper limit pulse value of the motion range of the specified joint by an expression or a numerical value.

Description
Defines the permissible working range for the specified joint with upper and lower limits in encoder pulse counts. JRange is similar to the Range command. However, the Range command requires that all joint range limits be set while the JRange command can be used to set each joint working limits individually thus reducing the number of parameters required. To confirm the defined working range, use the Range command.

Robot parameter data is stored in compact flash in controller. Therefore, writing to command flash occurs when executing this command. Frequent writing to compact flash affect to lifetime of compact flash. We recommend to use this command minimally.

Notes

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• Lower Limits Must Not Exceed Upper Limits:

  The Lower limit defined in the JRange 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 Which can Change JRange:

  Once JRange values are set they remain in place until the user modifies the values either by the Range or JRange commands. Turning controller power off will not change the JRange joint limit values.

• Maximum and Minimum Working Ranges:

  Refer to the following manual for maximum working ranges for each robot model since these vary from model to model.
  "Manipulator Manual"

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See Also
Range, JRange Function

JRange Statement Example
The following examples are done from the Command window:

> JRange 2, -6000, 7000    'Define the 2nd joint range

> JRange 1, 0, 7000    'Define the 1st joint range