Epson LS20 Series User Manual

Setup & Operation 5. Motion Range
LS20 Rev.4 57
(8)
Move
Joint #3 to its lower limit while pressing the brake release switch, and
then
check the lower
limit position. Do not lower the mechanical stop too far
.
Otherwise, the joint
may not reach a target position.
(9)
Calculate the lower limit pulse
value of the pulse range using the formula shown
below
and set the value.
T
he result of the calculation is always negative because the lower limit Z coordinate
value
is negative.
Lower limit of pulse (pulse)
= lower limit Z coordinate value (mm) / Resolution (
mm/pulse)
** For the Joint #3 resolution,
refer to the section Setup & Operation 2.4 Specifications.
Execute the following command from the [Command Window].
Enter the
calculated value in X.
>JRANGE 3,X,0 ' Sets the pulse range of Joint #3
(10)
Using the
Pulse command (Go Pulse command), move
Joint #3 to the lower limit
position of the pulse range at low speed.
If the mechanical stop range is less
than
the pulse range, Joint #3
will hit the mechanical stop and an error will occur.
When
the erro
r occurs, either change the pulse range to a lower setting
or extend the position
of the mechanical stop within the limit.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the
Controller and lift the arm top cover to check the condition causing the problem from
the side.
Execute the following commands from the [Command Window].
Enter the value
calculated in Step (9) in X.
>MOTOR ON
' Turns ON the motor
>SPEED 5
' Sets low speed
>PULSE 0,0,
X,0 ' Moves to the lower limit-pulse position of Joint #3.
(In this example, all pulses except
those for Joint #3 are “0”.
Substitute these “0s” with the other pulse values specifying
a
position where there is no interference even
when lowering
Joint #3.)
EPSON
RC+
EPSON
RC+

NOTE

Epson LS20 Series Specifications

General

Brand	Epson
Model	LS20 Series
Category	Robotics
Language	English