Space Limit

In addition to the robot's joint angle limits in Robot Limits, it is possible to limit the robot’s operating space to within the direct teaching coordinates. If the robot or TCP violates the Space Limit during auto operation or manual mode, it will stop according to the Safety Stop Mode settings.

When the robot or TCP reaches the boundary of the Space Limit during direct teaching using hand guiding, a repelling force can be felt.

By selecting the Inspection Point, it is possible to select whether the Space Limit will target the entire robot body or only the TCP.

By selecting the Valid Space, it is possible to select whether the Inspection Point will not violate or not exceed a designated space.

It is possible to easily designate an expanded volume from designated coordinates using Zone Margin.

Selecting Dynamic Zone Enable will enable/disable the zone according to the input signal from the I/O port. If the input is not enabled, the corresponding Space Limit will become disabled, and the robot operates as if the corresponding Space Limit is not present