Motion Range Setting By Pulse Range (For All Joints); Max. Pulse Range Of Joint #1 - Epson SCARA ROBOT Manipulator Manual

Setup & Operation 5. Motion Range

5.1 Motion Range Setting by Pulse Range (for All Joints)

Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range between the pulse lower limit and upper limit of each joint.
Pulse values are read from the encoder output of the servo motor.
For the maximum pulse range, refer to the following sections.
The pulse range must be set inside of the mechanical stop range.
Once the Manipulator receives an operating command, it checks whether the target
NOTE

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.
The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot
EPSON
RC+
Manager]. (You may also execute the Range command from the [Command Window].)

5.1.1 Max. Pulse Range of Joint #1

The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the
positive (+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
Arm length
45
A
Max. Motion
55
Range
65
45
B
Max. Pulse
55
Range
65
68
5.1.1 Max. Pulse Range of Joint #1
5.1.2 Max. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4.
+ A
+ B
Table Top Mounting
±152 degrees
-1805881 to +7048761
+Y
- A
- B
Ceiling Mounting
±120 degrees
-873814 to +6116694
+X 0 pulse
Wall mounting
±105 degrees
±135 degrees
±148 degrees
-436907 to +5679787
-1310720 to +6553600
-1689373 to +6932253
G6 Rev.21