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5.1 Motion Range Setting by Pulse Range
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.
Once the Manipulator receives an operating command, it checks whether the target
NOTE
F
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.
The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot
EPSON
RC+
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 (-).
Arm length
A: Max. Motion
Range
85, A0
B: Max. Pulse
Range
85, A0
G10 / G20 Rev.20
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.
A
B
Table Top Mounting
65
±152 degrees
65
-1805881 to +7048761
Setup & Operation 5. Motion Range
+Y
A
+X 0 pulse
B
Ceiling Mounting
Wall mounting
±107 degrees
-495161 to 5738041
77
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