IAI America IX-NNN12040 - Manual (Page 25)

1. Specifications Check
19
[2] Operation Restriction
When a load or the arm of the robot interferes with the base or other equipment, restrict the
operation by attaching hex socket head screws (M8u15) to the M8 tapped holes for operation
restriction on the J1-axis or J2-axis that are shown in the figure below, and make the stopper
interfering absolute reset effective.
[Refer to (1) J1-Axis Operation Restriction Angles and (2) J2-Axis Operation Restriction Angles
for the angles to be able to restrict the operation.]
When the operation restriction is applied, make to change the parameters in the software
limitation in Each Axis Parameter No. 7 and No. 8.
[Refer to (1) J1-Axis Operation Restriction Angles and (2) J2-Axis Operation Restriction
Angles for the soft limit values.]
Also, when having the stopper interfering absolute reset in the direction of operation
restriction, make to acquire the position of the stopper in Stopper Position Acquiring Mode
after that, and perform the stopper interfering absolute reset.
It is necessary to have a stopper interfering absolute reset in such cases as when replacing
the absolute backup batteries. Note that, if interference exists, the absolute reset process
cannot be executed, thus the recovery process faces difficulty.
Especially, the J2-axis with its arm length 1000 has a possibility that a load interferes with
the base without the operation restriction.
J1-Axis M8
Tapped Holes
for Rotational
Restriction
J2-Axis M8
Tapped Holes
for Rotational
Restriction
When load interferes with
a base area
Base