Limit release function

The limit release function is used to temporarily deactivate the limit monitoring so that the robot can be moved away from a dead lock situation.

If the robot is stuck in a situation where it cannot be moved anymore e.g. due to the violation of an interference zone (or any of the other limits), it can be necessary to temporarily disable the robot limit monitoring. This is called releasing all limits.

After all limits are released you can jog the robot away from the violation. This needs to be done very carefully to prevent damage.

Library components

Deactivate/activate the limit monitoring

The state of the limit monitoring can be changed in two ways:

• Using MLxSetLimitStatus
• By pendant: robot » limit release » all limit release

After the robot has been moved away from the troubled position, the limit monitoring must be restored before proceeding normal operation. This is also done automatically in following situations:

• Robot controller restart.
• Pendant keyswitch switched from TEACH to REMOTE

Limit types

The limits effected by this function are:

- mechanical limit
- L-U interference
- axis soft limits
- cube interference
- arm interference
- self interference
- cube/axis interference

Availability

Please refer to the function block documentation to see which robot controllers support this function.

Parameters

N/A

Example

Below pseudo code gives you an idea of the program structure for temporarily Releasing all limits.

10  SetLimitStatusDisable   // deactivate the robot limit monitoring

<some jog functions>        // jogging the robot to some position

20  SetLimitStatusEnable    // activate the robot limit monitoring