Setup & Operation 5. Motion Range
52 LS20 Rev.4
5.1.3 Max. Pulse Range of Joint #3
The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit.
The pulse value is always negative because Joint #3 always moves lower than the 0 pulse
position.
LS20-804S
Standard-model 420 mm
-283853 pulse
LS20-A04S
LS20-804C
Cleanroom-model 390 mm
-263578 pulse
LS20-A04C
For the Cleanroom-model (LS20-804C, LS20-A04C), the motion range set with the Joint
#3 mechanical stop cannot be changed.
5.1.4 Max. Pulse Range of Joint #4
The 0 (zero) pulse position of Joint #4 is the position where the flat near the end of the
shaft faces toward the end of Arm #2. With the 0 pulse as a starting point, the
counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value
is defined as the negative (-).
Counterclockwise (+value)
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