YRC1000 soft limits and limit release
The manipulator's motion range is limited by mechanical stoppers. On top of that, it is also monitored by the system software. These software limits are called soft limits.
Two kinds of soft limit
- Maximum motion range of each axis: the range that each axis must not go beyond.
- Cube-shaped allowed area: an area defined as a rectangular box whose edges are parallel to the robot coordinate axes. It can be used, for example, to keep the manipulator out of a particular zone.
The robot stops when it reaches either limit.
When you need limit release
An operating mistake or a system error can move the robot somewhere unexpected, where it stops at a limit. In that case you temporarily release the limit and bring the robot back to a suitable position.
Releasing the soft limit (standard pendant)
- From the main menu, select ROBOT → LIMIT RELEASE.
- Set "SOFT LIMIT RELEASE" to "VALID".
- Jog the axis back in the opposite direction to the one it came in from, then set the item back to "INVALID".
On the Smart Pendant, the same operation is under [MENU] → [Robot Settings] → [Limit Release].
Points to remember
- While a limit is released, you cannot teach move instructions.
- Switching to automatic (play) mode automatically turns the limit release off.
- On models with self-interference checking (such as the HC10), a "self-interference" release item is also shown. Releasing it can let the manipulator hit its own tool, so handle it with care.
All-limits release
All limits covers the following four checks together:
| Limit | What it checks |
|---|---|
| Mechanical limit | The manipulator's motion range |
| L-U interference area | Interference between the L and U axes |
| Soft limit of each axis | The motion range of each axis |
| Cube zone | User-defined cube areas |
All-limits release is a recovery-only function used in management mode. Because every limit is removed, the robot can move past its normal range and damage itself or nearby equipment. Pay close attention to the surroundings when you move it.
Functional safety limits
If functional safety (an option) is used and a safety limit such as a robot range limit or tool angle monitoring is violated, the robot stops with an alarm. Until the violation is cleared you can neither move the robot nor reset the alarm. In that case, temporarily disable the safety function that is causing the alarm, reset the alarm, and jog back into the safe area. Then always re-enable the function you disabled.
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Source: Based on YASKAWA manuals HW1485508 and RE-CTO-A221.