XYLimMode Statement

Sets or displays monitor method of XYLim.

Syntax
(1) XYLimMode monitor method

(2) XYLimMode

Parameters

Monitor method

Integer expression represents monitor method of using XYLim.

Constant	Value	Description
XYLIM_STANDARD	0	Applies XYLim to endpoint of motion command. (There is no effect on Pulse.)
XYLIM_STRICT	1	Applies XYLim to monitor method of XYLIM_STANDARD, trajectory, and pulse motion.

Result
Displays monitor method of XYLim that currently configured when used without parameters.

Description
XYLimMode sets monitor method of XYLim for spcified robot.

When XYLIM_STANDARD is specified, the motion range set in XYLim is effective only for endpoint of motion command. From start point of motion to trajectory of endpoint is not applicable. Therefore, during operation, the arm may pass outside of the area that set in XYLim. In this mode, XYLim is not applied to pulse motion.

When XYLIM_STRICT is specified, the motion range set in XYLim is applied to endpoint of motion command and start point of motion to trajectory of endpoint. Therefore, during operation, if the arm tried to move out of the range set in the XYLim, an error will occur. In this mode, XYLim is applied to pulse motion. However, moving from outside the XYLim range to within the range, such as “the start point is outside the XYLim range and the endpoint is within the XYLim range”, it is possible to move without an outside XYLim range error.

To prevent robot interferes other devices, using with XYLIM_STRICT is recommended.

It is possible to change settings of default value of monitoring method when Controller start up, in the Controller preferences of Epson RC+. The value confihured in XYLimMode command is enabled until Controller restart. When restarted Controller, the monitoring method of XYLim will be reset to the method specified in the Controller preferences.

CAUTION

For XYLIM_STANDARD, the arm may pass outside of the area that set in XYLim. Therefore, note that the robot does not interfere other devices. For example, setting extra space to XYLim and actual obstacle, operating near XYLim area, check trajectory at low speed.

Potential Errors

• When executed PTP near XYLim area.

  When executing PTP motion such as Go motion, start point and endpoint moves like the arrow of image on the left. Therefore, in XYLIM_STRICT, target coordinate is in the range but trajectory is out of range so an error will occur. In this case, avoid it so that the motion trajectory does not exceed XYLim by adding midPoint between start point and target coordinate like following image on the right.

  

  Symbol	Description
  a	XYLim lower limit
  b	XYLim upper limit
  c	Start point
  d	Midpoint
  e	Endpoint

• When using past project:

  If a project used with Controller FW Ver 7.5.2.0 or earlier than 7.5.52.0 is applied to a Controller that XYLim monitoring method is XYLIM_STRICT, the trajectory may become an out-of-range error. In this case, change the program to not exceed XYLim by adding midpoint.

See Also
XYLim Statement

XYLimMode Command Example
This example uses XYLimMode. Moving current point to P1 with XYLIM_STANDARD and moving P1 to P2 with XYLIM_STRICT.

Function XYLimMode_sample
Motor On
XYLimMode XYLIM_STANDARD
Go P1	’Applying XYLim only for endpoint.
XYLimMode XYLIM_STRICT
Go P2	’Applying XYLim to endpoint and trajectory.
Fend

This is an example using XYLimMode in command window. Displays current monitor method of XYLim.

> XYLimMode
1