Iai-america XSEL-KX Manuel d'utilisateur Page 274
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
258
Part 4 Commands
5. Soft Limits
The soft limits of IX horizontal articulated robots are set in axis-specific parameter Nos. 7 and 8.
The screen below gives an example of how the soft limits of an IX5020 robot (arm length 500 mm, Z-axis
200 mm) are shown in the PC software.
The soft limit parameters are set in coordinates on each axis coordinate system.
Axis 1, axis 2, axis 3 and axis 4 correspond to arm 1, arm 2, Z-axis and R-axis, respectively.
The setting unit for arm-1, arm-2 and R-axis (rotating-axis) soft limits is [0.001 deg]. The setting unit for Z-
axis soft limits is [0.001 mm].
The soft limits of arm 1, arm 2, Z-axis or R-axis limit the range of operation of the applicable axis from its
home on the corresponding axis coordinate system. They are not affected by the load coordinate system
or tool coordinate system.
Note) The factory-set soft limits define the maximum range of operation. Do not set the soft limits in any
way expanding the range of operation.
5.1 Each Axis Coordinate System and Soft Limits
(1) Soft limits of arm 1
The position at which arm 1 faces the +Xb direction defines the home of the axis coordinate system
of arm 1 (0 deg). This home position is not affected by the position of arm 2.
The soft limit + (for axis 1 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 1 in axis-specific parameter No. 8) indicates an angle of operation in the
clockwise direction (negative direction).
Center of rotation of arm 1
Home of axis coordinate system for arm 1 (0 deg)
Soft limit +
(212 deg in the sample
PC software screen)
Soft limit –
(-32 deg in the sample
PC software screen)
- X-SEL Controller 1
- JX/KX Type 1
- Operation Manual 1
- CAUTION 3
- Safety Precautions 5
- Warning 6
- Before Use 11
- Table of Contents 12
- Introduction 17
- Part 1 Installation 18
- 1. Warranty Period 19
- 2. Scope of Warranty 19
- 3. Scope of Service 19
- 1. Installation Environment 20
- 3. Power Source 21
- 1. Front View of Controller 24
- 2.1. Application 34
- 2.2. Core 35
- Chapter 5 Specifications 36
- Caution 38
- 4. External Dimensions 43
- 3 - ∅ 5 44
- 77.2 150 150 77.2 125.3 44
- Chapter 6 System Setup 45
- 2. I/O Connection Diagram 47
- 3. I/O Flat Cable 49
- Chapter 7 Maintenance 50
- Part 2 Operation 57
- Chapter 1 Operation 57
- Start signal 59
- Emergency-stop 59
- Parameters 62
- Parameters Parameters 62
- Chapter 1 How to Save Data 63
- Write to flash memory 63
- 1.2 I/O Ports 67
- 1.3 Virtual I/O Ports 68
- 1.4 Flags 70
- 1.5 Variables 71
- 1.6 Tags 74
- 1.7 Subroutines 75
- 1.8 Symbols 76
- 1.10 Axis Specification 77
- 2. Position Part 79
- 79
- 3. Command Part 80
- 3.2 Extension Condition 81
- Part 4 Commands 82
- Confirmation position 91
- 1.2 Arithmetic Operation 96
- Optional Optional MOD 98
- Optional Optional SIN 99
- Optional Optional COS 100
- Variable 100
- Data ZR 100
- Optional Optional TAN 101
- Optional Optional ATN 102
- Optional Optional SQR 103
- Optional Optional AND 104
- Optional Optional OR 105
- Optional Optional EOR 106
- Optional Optional CPXX 107
- 1.6 Timer 108
- Optional Optional TIMC 109
- Program 109
- Prohibited CP 109
- Optional Optional GTTM 110
- (Output 111
- Optional Optional FMIO 119
- 1.8 Program Control 122
- 1.9 Task Management 125
- Currently executed step 128
- Currently paused step 129
- 1.10 Position Operation 130
- Position 137
- Optional Optional PSIZ 141
- X 100 (%) 152
- Optional Optional GRP 155
- Optional Optional DFTL 161
- Optional Optional SLTL 162
- Optional Optional GTTL 163
- Optional Optional DFWK 164
- Optional Optional SLWK 165
- Optional Optional GTWK 166
- Optional Optional DFIF 173
- Optional Optional SOIF 174
- Optional Optional SEIF 175
- Optional Optional GTIF 176
- Optional Optional SVXX 177
- Prohibited PE 177
- Optional Optional MOVP 178
- Optional Optional MOVL 179
- Optional Optional MVPI 180
- Optional Optional MVLI 181
- Start position 182
- Position origin 182
- End position 182
- Optional Optional STOP 183
- Optional Optional PUSH 185
- Center angle 191
- Center position 192
- Optional Optional PBND 193
- Distance CP 193
- Optional Optional TMPI 194
- Optional Optional TMLI 195
- Optional Optional PTRQ 196
- Ratio CC 196
- Optional Optional IFXX 199
- Data CP 199
- Optional Optional DWXX 202
- 1.15 Multi-Branching 204
- Optional Optional WHXX 205
- Prohibited Prohibited WSXX 206
- Optional Optional SYST 210
- Optional Optional GARM 211
- 1.17 Communication 212
- Optional Optional TMRD 214
- Optional Optional SCHA 216
- Character 216
- 1.18 String Operation 217
- Optional Optional SPUT 220
- Optional Optional STR 221
- Data CC 221
- Optional Optional STRH 222
- Optional Optional SLEN 225
- Optional Optional BGPA 226
- Palletizing 226
- Optional Optional PAPN 227
- Pattern 227
- Optional Optional PAST 229
- (Position 229
- Optional Optional PAPS 230
- Optional Optional PSLI 233
- (Count) CP 233
- Optional Optional PCHZ 234
- Optional Optional ACHZ 237
- added to 246
- 1.1 CP Operation 250
- All-axis parameter 251
- CP-operation 251
- 1.2 PTP Operation 252
- 2. Arm System 253
- : Area accessibly only 254
- : Area accessibly only by 254
- 3. Coordinate System 261
- 3.2 Load Coordinate System 263
- 3.3 Tool Coordinate System 267
- –50, Zb = 150, Rb = 0 272
- 50, Zb = 200, Rb = 180 272
- 5. Soft Limits 274
- 2. PATH/PSPL Commands 280
- 3. CIR/ARC Commands 280
- 1. How to Use 281
- 2. Palletizing Setting 281
- A. 3-point teaching method 283
- PX-axis direction pitch 284
- Teach position data No. 100 284
- PY-axis direction pitch 284
- 3. Palletizing Calculation 287
- 4. Palletizing Movement 288
- 5. Program Examples 290
- : 20, zigzag count: 4 291
- 1. Basic Frame 294
- 2. Ladder Statement Field 295
- 3. Points to Note 295
- OUTR301 295
- OUTR302 295
- 4. Program Example 296
- OUTR314 296
- TIMR900 296
- 0.5 SEC 296
- Chapter 7 Multi-Tasking 297
- 3. Program Switching 299
- Appendix 300
- 1 m (1000 mm) 303
- Controller end 303
- Connector not 303
- Control 304
- List of Parameters 307
- 1. I/O Parameters 308
- 3. Axis-Specific Parameters 320
- travel at 323
- 4. Driver Card Parameters 324
- for phase-W current 328
- 5. Encoder Parameters 330
- 6. I/O-Slot Card Parameters 331
- 7. Other Parameters 332
- 8. Manual Operation Types 337
- Trouble Report Sheet 374
- INTELLIGENT ACTUATOR 375
- Catalog No.: ME0119-7A 377
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