8 Parameter8.4 Parameters according to Interference Area8-27155223-1CDRE-CSO-A036 S2C001: CUBE SOFT LIMIT CHECKThis parameter specifies whether to check the cube soft limit. More than one soft limit can be specified.If “WITH CHECK” is selected, set up the following parameters.S3C000 to S3C023: Cube Soft Limit S2C002: S-AXIS INTERFERENCE CHECKThis parameter specifies whether to check for interference with each manipulator. If “WITH CHECK” isselected, set up the following parameters.S3C024 to S3C031: S-axis Interference AreaSoft LimitSoft limit is a software-type function to limit the range of movement of the manipulator.If the TCP reaches the soft limit during operation, the manipulator automatically stops andno longer moves in that same direction. An alarm occurs if this soft limit is exceededduring playback. This soft limit is classified into two types.• Cube Soft LimitSoft limit is set with the absolute value on the base coordinates.• Pulse Soft Limit (Independent Axis Soft Limit)Refer to "S1CxG200 to S1CxG215: PULSE SOFT LIMIT."d7 d0Cube 1 soft limit (base coordinates value of robot 1 TCP)Cube 2 soft limit (base coordinates value of robot 2 TCP)0 : No check1 : With checkCube 3 soft limit (base coordinates value of robot 3 TCP)Cube 4 soft limit (base coordinates value of robot 4 TCP)SUPPLE-MENTzYx315 of 435
