Example of Using Soft Axis Limiting
The following describes an example of using the Soft Axis Limiting. This example uses a SCARA Manipulator as the robot. Note that the same procedure applies when using a 6-Axis Manipulator.
This example confirms that if the J1 axis moves outside the limit range, the robot enters the emergency stop status.
How to set
Follow the procedure below to set the safety function parameters.
In Epson RC+, select [Setup] - [System Configuration], and then start Safety Function Manager under [Controller] - [Safety Functions].
Enter a limit range value of each joint [J1] to [J4] set using Soft Axis Limiting as follows:
Min [pulse]
J1:-1100000, J2:-2200000, J3:-1500000, J4:-1000000
Max [pulse]
J1:4400000, J2:2200000, J3:0, J4:1000000
Apply settings.
How to check operation
Follow the procedure below to check the operation.
In Epson RC+, select [Tools] - [Robot Manager] - [Jog & Teach], and then move the J1 axis to outside the limit range.
Confirm that an emergency stop occurs and the robot operation stops.
How to reset
The following two procedures can reset the emergency stop status or error status.
- Method using the motor brake release
- Method using the Teach Pendant
For details on safety functions, refer to the following section.
Precautions for Using the Robot Controller Safety Functions
Method using the motor brake release
How to Reset a SCARA Manipulator
Release the motor brake.
EPSON RC+ 7.0: In the EPSON RC+ [control panel]-[Free Joints], click the [Free All] button.
Epson RC+ 8.0: In the Epson RC+ [Jog & Teach]-[Free Joints], click the [Free All] button.
Move the robot by hand to inside the operating range.
In Epson RC+, perform the reset operation.
Confirm that the emergency stop state or error state is reset. For details on safety functions, refer to the following section.
Precautions for Using the Robot Controller Safety Functions
How to Reset a 6-Axis Manipulator
Use the brake release unit (option) or the Brake command of the software. For details, refer to the following manual.
"Manipulator Manual ‒ Safety - How to Move Arms with the Electromagnetic Brake"
Method using the Teach Pendant
- Attach the Teach Pendant to the Robot Controller and set the Robot Controller to TEACH mode.
CAUTION
When in TEACH mode, Soft Axis Limiting is disabled. Be careful of the robot's operations.
Operate the Teach Pendant to move the robot to inside the operating range.
Change to AUTO mode and perform the reset operation.