IAI America XSEL-KX - Manual (Page 276)

260
Part 4 Commands
(4) Soft limits of R-axis
The position at which the D-cut face at the tip of the R-axis faces the center of rotation of arm 2
defines the home of the R-axis coordinate system (0 deg). This home position is not affected by the
positions of arms 1 and 2.
When limiting the range of R-axis operation, pay attention to the different coordinates on the base
coordinate system and on the each axis coordinate system.
Example)
Limit the range of R-axis operation to within
±180 deg from the position shown in the figure below.
(In other words, limit R-axis operation to within
±180 deg from the position on the base coordinate
system where Axis 4 = 0.)
Center of rotation of R-axis
D-cut face
Soft limit +
(720 deg in the sample
PC software screen)
Soft limit –
(-720 deg in the sample
PC software screen)
Center of rotation of arm 2
The soft limit + (for axis 4 in axis-
specific parameter No. 7) indicates
a position in the counterclockwise
direction (positive direction) from
the home of this axis coordinate
system, while the soft limit – (for
axis 4 in axis-specific parameter
No. 8) indicates a position in the
clockwise direction (negative
direction).
In this case, R-axis operation is limited to between
the 90-deg position in the positive direction and –
270-deg position in the negative direction from the
home of the R-axis coordinate system.
The applicable parameters are set to as follows:
Axis 4 in axis-specific parameter No. 7 = 90000
Axis 4 in axis-specific parameter No. 8 = -270000
–180 deg (base
coordinate system)
D-cut orientation
–Xb direction
+180 deg (base
coordinate system)
–270 deg (each axis
coordinate system)
+90 deg (each axis
coordinate system)
D-cut orientation
Center of
rotation of arm 2