LimZ Statement

Determines the default value of the Z joint height for Jump commands.

Syntax
(1) LimZ zLimit

(2) LimZ

Parameters

zLimit

Specify a coordinate value within the movable range of the Joint #3.

Return Values
Displays the current LimZ value when parameter is omitted.

Description
LimZ determines the maximum Z joint height which the arm move to when using the Jump instruction, wherein the robot 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.

Notes

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• 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.

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See Also
Jump

LimZ Statement Example
The example below shows the use of LimZ in Jump operations.

Function main
    LimZ -10            'Set the default LimZ value
    Jump P1             'Move up to Z=-10 position for Jump
    Jump P2 LimZ -20    'Move up to Z=-20 position for Jump
    Jump P3	           'Move up to Z=-10 position for Jump
Fend