IAI America XSEL-QX - Manual (Page 372)

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Part 4 Commands
5. Soft Limits of SCARA Axes
The soft limits of IX horizontal articulated robots are set in axis-specific parameter Nos. 7 and 8.
The figure below is a display example of soft limits for an IX5020 robot (arm length 500 mm, Z-axis 200
mm) in the PC software.
The soft limit parameters are set on each axis coordinate system.
Axis 1 and axis 2 correspond to arm 1 and arm 2, while axis 3 and axis 4 correspond to the Z-axis and R-
axis, respectively.
The setting unit is 0.001 deg for arm 1, arm 2 and the R-axis (rotational movement axis), while the setting
unit for the Z-axis is 0.001 mm.
The soft limits restrict the range of arm 1, arm 2, Z-axis or R-axis operation from the home of the
applicable axis coordinate system. They are not influenced by the load coordinate system or tool
coordinate system.
Note) The soft limits are set to the maximum limits of operating range when the controller is shipped.
Accordingly, do not increase the limits in the direction of expanding the operating range.
5.1 Axis Coordinate Systems and Soft Limits
(1) Soft limits of arm 1
The position where arm 1 is facing toward the +Xb direction is the home of arm 1 on its axis
coordinate system (0 degree).
It is not influenced by the position of arm 2.
The operating angle in the counterclockwise direction (positive direction) from this home defines the +
soft limit (axis 1 in axis-specific parameter No. 7). The operating angle in the clockwise direction
(negative direction) from the home defines the – soft limit (axis 1 in axis-specific parameter No. 8).
Center of rotation
of arm1 Home of arm-1 axis
coordinate system (0 degree)
Soft limit +
(212 degrees in the display
example in the PC software)
Soft limit –
(-32 degrees in the display
example in the PC software)
+Xb -Xb