IAI America XSEL-KX - Manual (Page 275)

259
Part 4 Commands
(2) Soft limits of arm 2
The position at which arms 1 and 2 crosses with each other at right angles defines the home of the
axis coordinate system of arm 2 (0 deg). This home position is not affected by the position of arm 1.
The soft limit + (for axis 2 in axis-specific parameter No. 7) indicates an angle of operation in the
counterclockwise operation (positive direction) from the home of this axis coordinate system, while
the soft limit – (for axis 2 in axis-specific parameter No. 8) indicates an angle of operation in the
clockwise direction (negative direction).
(3) Soft limits of Z-axis
The position at which the mechanical stopper on the Z-axis is positioned approx. 5 mm below the
mechanical end at the bottom of arm 2 defines the home of the Z-axis coordinate system (0 mm).
This home position is the same as the position on the base coordinate system where axis 3 = 0 mm.
(With robots of cleanroom specification or dustproof/splash-proof specification, the mechanical
stopper is housed inside the bellows and therefore not visible.)
The soft limit + (for axis 3 in axis-specific parameter No. 7) indicates a position in the downward
direction (positive direction) from the home of this axis coordinate system, while the soft limit – (for
axis 3 in axis-specific parameter No. 8) indicates a position in the upward direction (negative
direction). (The directions are reversed on robots of inverse specification.)
Center of rotation of arm 2
Home of axis coordinate system for arm 2 (0 deg)
Soft limit +
(147 deg in the sample
PC software screen)
Soft limit –
(-147 deg in the sample
PC software screen)
Home of Z-axis
coordinate system (0 mm)
Soft limit +
(200 mm in the sample
PC software screen)