Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator - Epson LS-B Series Manual

EPSON
RC+
(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
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].)
LS-B series Rev.5
Lower limit of pulse (pulse)
= lower limit Z coordinate value (mm) / Resolution (
** For the Joint #3 resolution,
refer to the section Appendix A: Specifications.
Execute the following command from the [Command Window].
calculated value in X.
>JRANGE 3,X,0
position of the pulse range at low speed.
the 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 '
LS3-B LS6-B Manipulator 5. Motion Range
' Sets the pulse range of Joint #3
If the mechanical stop range is less than
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.)
)
mm/pulse
Enter the
(for Joints #1 and #2)
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