Epson SCARA ROBOT User Manual

Setup & Operation 5. Motion Range
68 G6 Rev.21
5.1 Motion Range Setting by Pulse Range (for All Joints)
Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range between the pulse lower limit and upper limit of each joint.
Pulse values are read from the encoder output of the servo motor.
For the maximum pulse range, refer to the following sections.
The pulse range must be set inside of the mechanical stop range.
5.1.1 Max. Pulse Range of Joint #1
5.1.2 Max. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4.
Once the Manipulator receives an operating command, it checks whether the target
position specified by the command is within the pulse range before operating. If the
target position is out of the set pulse range, an error occurs and the Manipulator does not
move.
EPSON
RC+
The pulse range can be set on the [Range] panel shown by selecting [Tools]
-[Robot
Manager]. (You may also execute the Range command from the [Command Window].)
5.1.1 Max. Pulse Range of Joint #1
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the
positive (+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
+Y
+X 0 pulse
+ B
- B
+
A
- A
Arm length
Table Top Mounting
Ceiling Mounting
Wall mounting
A
Max. Motion
Range
45
±152 degrees
±120 degrees ±105 degrees
55
±135 degrees
65
±148 degrees
B
Max. Pulse
Range
45
-1805881 to +7048761
-
873814 to +6116694
-
436907 to +5679787
55
-1310720 to +6553600
65
-1689373 to +6932253

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English