Setting The Mechanical Stop Of Joint #3 - Epson LS-B Series Manual

LS3-B LS6-B Manipulator 5. Motion Range

5.2.2 Setting the Mechanical Stop of Joint #3

This method applies only to the Standard-model manipulator.
NOTE

For the Cleanroom-model
changed.
(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
(2) Push up the shaft while pressing the brake release
NOTE

(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (M4×15).
NOTE

(5) The upper end of the shaft defines the maximum stroke.
(6) Firmly tighten the lower limit mechanical stop screw (M4×15).
(7) Turn ON the Controller.
(8) Move Joint #3 to its lower limit while pressing the brake release switch, and then check
(9) Calculate the lower limit pulse value of the pulse range using the formula shown below
60
the motion range set with the Joint #3 mechanical stop cannot be
,
switch.
Do not push the shaft up to its upper limit or it will
be difficult for the arm top cover to be removed.
Push the shaft up to a position where the Joint #3
mechanical stop can be changed.
When you press the brake release switch, the shaft may lower due to the weight of the
end effector. Be sure to hold the shaft by hand while pressing the button.
A mechanical stop is mounted on both the top and bottom of Joint #3. However,
only the position of the lower limit mechanical stop on the top can be changed
Do not remove the upper limit mechanical stop on the bottom because the calibration
point of Joint #3 is specified using the stop.
Move the lower limit mechanical stop down by the length
you want to limit the stroke.
For example, when the lower limit mechanical stop is set
at "200 mm" stroke, the lower limit Z coordinate value is
" 200". To change the value to " 180", move the
lower limit mechanical stop down "20 mm".
calipers to measure the distance when adjusting the
mechanical stop.
Recommended tightening torque: 5.4N⋅m (55 kgf⋅cm)
the lower limit position. Do not lower the mechanical stop too far. Otherwise, the
joint may not reach a target position.
and set the value.
The result of the calculation is always negative because the lower limit Z coordinate
value is negative.
Brake release switch
Lower limit mechanical
stop screw: M4×15
Shaft
Measure this
distance
Use
LS-B series Rev.5