Epson GX Series Manual page 246

Industrial Robot: SCARA Robots GX series Manual
a
Symbol Description
a Measurement length
6. Adjust the low-profile hexagon socket head cap bolts (2 × M5) of the lower limit mechanical stop so that the size of the gap
between the two is about the same, and secure in place at the following torque.
Recommended tightening torque: 8.0 ± 0.4 N⋅m (82 ± 4 kgf⋅cm)
Gap
7. Turn on the Controller.
8. Press down Joint #3 while pressing the brake release switch, and then check the lower limit position. Do not lower the
mechanical stop too far. Otherwise, the joint may not reach a target position.
9. Calculate the lower limit pulse value of the pulse range using the formula shown below, and set the value.
The result of the calculation is always negative because the lower limit Z coordinate value is negative.
GX8-***2S (Z: -200 mm): Lower limit of pulse = (lower limit Z coordinate value)/40 × 131072 × (60/36)
GX8-***3S (Z: -330 mm): Lower limit of pulse = (lower limit Z coordinate value)/40 × 131072 × (60/36)
Example: To lower the mechanical stop by 50 mm and change the lower limit Z coordinate value to "-150" with a
200 mm stroke
(-150)/40 × 131072 × (60/36) = -819200
EPSON
RC+
Execute the following command in [Command Window].
>JRANGE 3,-819200,0
10. Using the Pulse statement (Go Pulse statement), move Joint #3 to the lower limit position of the pulse range that was set at
low speed.
'Sets the pulse range of Joint #3
Rev.7
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