在機器人的實際使用中，有的時候需要對機器人的相關(guān)軸的運動范圍進行限制，防止碰撞等情況的發(fā)生。如下面的壓鑄工作站，可以對機器人的一軸的運動范圍進行設(shè)定，防止誤操作致使機器人與壓鑄機發(fā)生碰撞。

要對關(guān)機軸運動范圍進行設(shè)定，以設(shè)定一軸為例，我們按照如下步驟進行配置：

 ABB主菜單-控制面板-配置-主題選擇“motion”-雙擊“Arm”即可進入關(guān)節(jié)軸運動范圍設(shè)定界面，如下圖所示，rob1_1~rob1_6分別對應的是機器人的六個軸。進入rob1_1設(shè)置界面，設(shè)定“Upper Joint Bound”和“Lower Joint Bound”兩個參數(shù)的值，即可設(shè)定機器人運動上限和下限的運動范圍。

In the actual use of robots, sometimes it is necessary to limit the range of motion of the robot's relevant axes to prevent collisions and other situations from occurring. As shown in the die casting workstation below, the motion range of one axis of the robot can be set to prevent accidental operation that may cause collisions between the robot and the die casting machine.
To set the range of motion for the shutdown axis, taking setting one axis as an example, we will configure it as follows:
ABB main menu - Control panel - Configuration - Theme selection "motion" - Double click "Arm" to enter the joint axis motion range setting interface, as shown in the following figure. rob_1~rob_1 correspond to the six axes of the robot. Enter the rob_1 setting interface and set the values of the "Upper Joint Bound" and "Lower Joint Bound" parameters to set the upper and lower limits of the robot's motion range.