IAI America XSEL-QX - Manual (Page 373)

349
Part 4 Commands
(2) Soft limits of arm 2
The position where arm 2 is crossing with arm 1 at right angles is the home of arm 2 on its axis
coordinate system (0 degree).
It is not influenced by the angle position of arm 1.
The operating angle in the counterclockwise direction (positive direction) from this home defines the +
soft limit (axis 2 in axis-specific parameter No. 7). The operating angle in the clockwise direction
(negative direction) from the home defines the – soft limit (axis 2 in axis-specific parameter No. 8).
(3) Soft limits of the Z-axis
The position where the mechanical stopper attached to the Z-axis is approx. 5 mm below the
mechanical end at the bottom of arm 2 is the home of the Z-axis on its axis coordinate system (0 mm).
This is the same position as where axis 3, which defines the base coordinate system, is at 0 mm.
(With cleanroom and dustproof/splash-proof specifications, the mechanical stoppers are housed
inside the bellows and therefore not visible.)
The downward direction (positive direction) from this home defines the + soft limit (axis 3 in axis-
specific parameter No. 7). The upward direction (negative direction) defines the – soft limit (axis 3 in
axis-specific parameter No. 8). (The directions are reversed for inverse specifications.)
Origin of Z-axis
coordinate system (0 mm)
(200 mm in the display
example in the PC software)
Soft limit +
+ Zb
Origin of arm-2 axis coordinate
system (0 degree)
Center of rotation of arm 2
Soft limit +
(147 degrees in the display
example in the PC software)
Soft limit –
(-147 degrees in the display
example in the PC software)