Motion Range; Motion Range Setting By Pulse Range (For Each Joint) - Epson N6 Series Manipulator Manual

5. Motion Range

■ When limiting the motion range for safety, be sure to set by the pulse range.
Failure to do so may cause serious safety problems.
WARNING
The motion range is preset at the factory as describes in the Setup & Operation 2.4
Standard Motion Range. This is the maximum motion range of the Manipulator.
Motion range is set by the following two methods:
When the motion range is limited due to layout efficiency or safety, follow the descriptions
in 5.1 through 5.3 to set the range.

5.1 Motion Range Setting by Pulse Range (for Each Joint)

Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range (the lower limit and the upper limit) of each axis.
Pulse values are read from the encoder output of the servo motor.
The pulse range should be set within the maximum motion range.
NOTE
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 The pulse range can be set in [Tools]-[Robot manager]-[Range] panel.
RC+
You may also execute the Range command from the [Command Window].
N6 Rev.2
1. Setting by pulse range (for all arms)
2. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the
Manipulator
Rectangular Range Setting
Motion Range
Pulse Range
Setup & Operation 5. Motion Range
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