Software limit switches

Introduction

The MOVIKIT® Robotics software module distinguishes between several types of software limit switches for monitoring the values of the following variables:

  • Driven joint axes
  • Cartesian position
  • Drag joint axes
  • Drag distances

If the range delimited by the software limit switches is exceeded, an error is issued. Then only jog mode is possible to move the robot back to the permitted range. In addition, the software limit switches of the driven joint axes in the "JOG_JOINT" operating mode and the software limit switches of the Cartesian positions in the "JOG_CART" operating mode have a limiting effect, i.e. the permitted range cannot be left any further in the respective operating mode.

Deactivating software limit switches

The software limit switches can be deactivated ("Disable SWLS", SoftwareLimitSwitch.IN.xDisable). In this case, the software limit switches no longer have a limiting effect in jog mode and it is also possible to move outside the permitted range in program mode. However, moving out of the permitted range is still indicated. If the software limit switches are deactivated, the warning "0x17E61" appears as well as a note to reactivate the software limit switches.

INFORMATION

In the current version of the software module, deactivating the software limit switches only affects the software limit switches configured in the software module itself. The software limit switches of lower-level MultiMotion axes are not taken into account when deactivating.

 

Software limit switches of driven joint axes

The software limit switches of the driven joint axes take effect when the positions of the driven joint axes are valid and the software limit switches are not deactivated. This means they are not in effect in referencing mode and in unreferenced jog mode.

In the case of PTP interpolation, an additional check is made to ensure that the joint axes for reaching the target position are within the range delimited by the software limit switches. If the range is exceeded, the "0x7E64" error is output for activated software limit switches, and the "0x17E64" warning is output for deactivated software limit switches.

 

Cartesian software limit switches

The Cartesian software limit switches take effect when the Cartesian position is valid and the software limit switches are not deactivated. This means they do not take effect in referencing mode, unreferenced jogging or when kinematics transformation is not possible. The Cartesian software limit switches limit the tool coordinates in the base coordinate system for the translational degrees of freedom X, Y, and Z, as well as rotation around these axes. Not the joint axes of the kinematic model are limited here, but the 3D space coordinates of the tool.

 

Software limit switches of drag joint axes

The software limit switches of drag joint axes take effect when the Cartesian position is valid and the software limit switches are not deactivated. This means they do not take effect in referencing mode, unreferenced jogging or when kinematics transformation is not possible. The software limit switches of drag joint axes limit the movement of joint axes to which no drive is assigned. An example of this are the elbows of the TRIPOD_RRR_M10 kinematic model.

 

Software limit switches of drag distances

The software limit switches of drag distances take effect when the Cartesian position is valid and the software limit switches are not deactivated. This means they do not take effect in referencing mode, unreferenced jogging or when kinematics transformation is not possible. The software limit switches of drag distances limit selected distances for certain kinematic models. An example of this is the distances to the lateral boundaries of the QUADROPOD_LLLL_M20 kinematic model.