Toshiba STE 58760 instruction manual －2-19－

STE 58760

Repeat this key operation until the "JLIMIT>" command appears on the LCD display.

NEXT

F6

(3)Press the function key which corresponds with the "JLIMIT>" command. The LCD display on the teach pendant should then show the following screen.

				JLIMIT
					F4
TRAVEL	JOINT	<NEGATIVE>	<POSITIVE>
[mm]	<T1>	-5.868	111.000
or	<T2>	-138.000	138.000
[deg]	<T3>	-0.500	200.500
	<T4>	-400.000	400.000
	<T5>	-5729.578	5729.578

> _

N1-mem P1-mem N2-mem P2-mem N3-mem <next>

F1

F2

F3

F4

F5

F6

(4) Enter joint limit values with numeric keys.

The joint limit position value of the axis to be set should be entered in units of millimeters or degrees.

(5) Store the joint limit position value of each axis.

After entering the joint limit position values, press the function key on the teach pendant to store them. Above the function keys, a menu having "P1-mem" "N1-mem ...". corresponding to the controller axes appears. The first letter "P" and "N" represent + direction and - direction of each joint axis. In addition, the number following "P" or "N" accords with the robot joint number. Press the key corresponding to the axis and direction for which the joint limit is to be set.

－2-19－