Setting The Mechanical Stops Of Joints #1 And #2 - Epson SCARA ROBOT Manipulator Manual

Setup & Operation 5. Motion Range

5.2.1 Setting the Mechanical Stops of Joints #1 and #2

Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for
the mechanical stop settings. Install the bolts in the holes corresponding to the angle that
you want to set.
Joint #1 Mechanical Stops
Joint #1
Arm
Mounting
Length
Table Top 45, 55, 65
Ceiling 55, 65
65
Wall
55
45
Ceiling
Wall 45
Setting Angle +152°
7048761
Pulse Value
+30°
Setting Angle
Pulse Value 3495254
-75°
Setting Angle
436907
Pulse Value
72
a b c
+152° +135°
+60°
+148°
+105°
+135°
+120°
+75°
+148°
6932253 6553600
+20°
3203983 2767076
-105°
-436907 -873814
g
f
e
d
c
b
a
l
d e f g
-5°
+20° +5°
+30°
+135° +120°
6116694
-5°
+5°
2475805
-120° -135°
-1310720
h
i
j
k
h i j
-20° -60°
-105°
-30° -75°
+105° +75°
5679787 4805974
-20° -30°
2038898 1747627
-148° -152°
-1689373 -1805881
k l
-135° -152°
-148°
-135°
-120°
+60°
4369067
-60°
873814
(°: degree)
G6 Rev.21