Determining Robot Motion Limits

For those who program and set up robots, it can be a PITA to determine what the motion limits for each axis should be set to.

Attached is an small PC program for a Kawasaki D controller that will determine the maximum and minimum motion position for each of the 6 axis.
I had to change the file extension from *.pg to *.txt in order to post it, so just rename it after download.
To use:
1. Load program as a PC program and execute in endless loop mode (-1).
2. Run your motion program, including any branches and at the maximum limits if variable positions are used.
3. Using KCWin on a laptop or the keyboard on the teach pendant, use the following commands:
list /l #liml <enter>
list /l #limu <enter>

The minimum motion limit for each axis will be stored in variable #liml.
The maximum motion limit for each axis will be stored in variable #limu.

I have no idea if this will work with other controller manufacturers.

Nice idea, Tony. I'll have to try writing something similar for our Motoman MH5
robots when they get here. If I get something together I'll post it to this thread.

-- Ralph