Epson SCARA ROBOT User Manual

Setup & Operation 5. Motion Range
76 G6 Rev.21
(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.
G6-**1S (Z: 150mm)
Lower limit of pulse = lower limit Z coordinate value / 20 × 131072 × (62 / 37)
G6-**4S (Z: 300mm)
Lower limit of pulse = lower limit Z coordinate value / 40 × 131072 × (62 / 37)
Example:
When lowering the mechanical stop by 50 mm and changing the lower
limit Z coordinate value to “-100” in 150 mm stroke
(-100) / 20 × 131072 × (62 / 37 ) = - 1098171
EPSON
RC+
Execute the following command from
the [Command Window].
>JRANGE 3,-1098171,0 ' 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 error occurs, either change
the pulse range to a lower setting
or extend the
position of the mechanical stop within the limit.
The clearance between the lower
-limit pulse position and the mechanical stop
should
be
approximately 5 mm.
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.
For details on removing the top cover, refer to Maintenance: 3.1 Arm To p Cover.
Example:
When lowering the mechanical stop by 50 mm and changing the lower
limit Z coordinate value to “-100” in 150 mm stroke
EPSON
RC+
Execute the
following commands from the [Command Window].
>MOTOR ON ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,-1098171,0 ' 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.)

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English