Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator (For Joints #1 And #2) - Epson LS-B Series Manual

LS20-B Manipulator 5. Motion Range
(10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit
NOTE

EPSON
RC+
5.3 Setting the Cartesian (Rectangular) Range in the XY
Coordinate System of the Manipulator (for Joints #1 and #2)
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting is only enforced by software. Therefore, it does not change the physical range.
The maximum physical range is based on the position of the mechanical stops.
Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot
EPSON
RC+
Manager].
(You may also execute the XYLim command from the [Command Window].)
176
position of the pulse range at low speed.
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.
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.
Execute the following commands from the [Command Window]. Enter the value
calculated in Step (9) in X.
'
>MOTOR ON
>SPEED 5 '
>PULSE 0,0,X,0 '
If the mechanical stop range is less than the
Turns ON the motor
Sets low speed
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.)
LS-B series Rev.5