Setup & Operation 5. Motion Range
56 LS Rev.10
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.
Joint #3 Stroke Lower Limit Pulse
LS3-401S (Standard-model) 150 mm
−187734 pulse
LS3-401C (Cleanroom-model) 120 mm
−150187 pulse
LS6-**2S (Standard-model) 200 mm
−245760 pulse
LS6-**2C (Cleanroom-model) 170 mm
−208896 pulse
For the Cleanroom-model (LS3-401C, LS6-**2C), 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 (-).
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