Answer: Motion limit device.
Answer analysis:
A motion limit device is a device that prevents the end effector from moving beyond a certain point on the axis.
This device is particularly important in robot systems to protect the mechanism from damage caused by movement beyond the allowable range.
Motion limits are generally divided into two types: hard limits and soft limits:
1. Hard limit:
- Definition: Install a limit switch at the end of the stroke.
When the motor shaft reaches the end of the stroke, the limit switch is triggered, thereby stopping the movement in that direction and setting the corresponding bit field in the error register.
- Classification: Includes positive hard limit and negative hard limit.
The positive hard limit installs a limit switch at the end of the positive stroke, while the negative hard limit installs a limit switch at the end of the negative stroke.
- Features: Triggered by physical contact, fast and reliable response, but may require regular maintenance due to mechanical wear or collision.
2. Soft limit:
- Definition: The positive and negative limit ends of the stroke are specified by software parameters (such as psoftlim and nsoftlim). If the command position exceeds the range specified by these parameters, a soft limit error occurs.
- Features: Flexible adjustment, the limit range can be modified without physical changes. However, compared with hard limits, its response may be slightly slower and it is completely dependent on the correctness and stability of the software.
Motion limit devices are essential in robot arms or any mechanical equipment that requires precise control of movement.
They not only protect the equipment from damage, but also ensure the accuracy and safety of movement. For example, in industrial automation production lines, robot arms need to accurately grasp and place parts, and motion limit devices ensure that the arm stops moving at the correct position, thereby avoiding collisions with other equipment on the production line.
In short, motion limit devices are an indispensable component of robots and automation equipment. They protect equipment and ensure the accuracy of movement by limiting the range of motion of the end effector.