Select Advanced Configuration Options Select Advanced Configuration Options The Advanced Configuration page provides options to control Emergency Stop (ESTOP) and calibration behavior. To specify the Advanced Options: 1. Click on the robot node in the tree view: Robot Node in Tree View 2. Click the Advanced tab to view the advanced configuration options. 3. Use the check box for each option to enable or disable the option. Advanced Configuration Options 4. After your changes are complete, click Apply to save the changes. Edit Joint Limits The motion limits for the individual robot joints can be changed from their standard settings to limit robot joint travel.
These software-defined joint limits (soft stops) are intended to protect the robot joints from col- liding with custom workcell hardware. After the robot is calibrated, it is not possible to exceed the limits under program or pendant control. These limits are often set just inside of the hardware limit switches. Although MicroV+ should prevent the robot from moving beyond the soft stops during normal operation, safety considerations require that hardware limit switches also be used. ACE User's Guide, 3.6.x 18316-000 Rev A Page 284 Item Description are closed (E-Stop buttons are not pushed, muted safety gates are closed, etc..) and OFF when an E-Stop circuit is open (e.g.
an E-Stop button is pushed).