Epson VT6L User Manual

Setup & Operation 5. Motion Range
56 VT Rev.1
5.2 Motion Range Setting by Mechanical Stops
Using the adjustable mechanical stops (option) physically limits the absolute area that the
Manipulator can move.
Be sure to turn OFF the Manipulator in advance.
Use bolts conforming to the specified length and surface processing (ex:
nickel plating)
with high corrosion resistance.
Specify the pulse range again after changing the position of the mechanical stop.
For details on the pulse range setting, refer to the the following section.
Setup & Operation 5.1 Motion Range Setting by Pulse Range (for All Arms).
Be sure to set the pulse range not to exceed the setting angles of the mechanical stop.
5.2.1 Motion Range Setting of Joint #1
Install the adjustable mechanical stop (J1) to the threaded hole corresponding to the angle
you want to set.)
Hexagon socket head cap bolt M4 × 28×1 bolt
Tightening torque 4.0 ± 0.2 N·m (41 ± 2 kgf·cm)
a
b
Angle (deg)
±170
−170 to +84
or
−
84 to +170
Pulse (pulse)
±8488472
− 8488472 to +4194304,
or
−
194304 to +8488472
Adjustable mechanical stop (J1)
Not applied
(standard)
Applied

Epson VT6L Specifications

General

Brand	Epson
Model	VT6L
Category	Robotics
Language	English