Epson SCARA ROBOT Manipulator Manual page 86

Setup & Operation 5. Motion Range
(1) Turn OFF the Controller.
(2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
(3) Turn ON the Controller.
(4) Set the pulse range corresponding to the new positions of the mechanical stops.
NOTE

EPSON
RC+
(5) Move the arm by hand until it touches the mechanical stops, and make sure that the
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
EPSON
RC+
74
and tighten it.
Hexagon socket head cap
Joint
bolt (fully threaded)
1
M10 × 20
2
M8 × 10
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Using G6-**1S*
The angle of Joint #1 is set from –135 degrees to +135 degrees.
The angle of Joint #2 is set from -125 degrees to +125 degrees.
Execute the following commands from the [Command Window].
>JRANGE 1,-1310720,6553600
>JRANGE 2,-2275556,+2275556 ' Sets the pulse range of Joint #2
>RANGE
-1310720,6553600,-2275556,2275556,-1976708
,0,-1961226, 1961226
arm does not hit any peripheral equipment during operation.
and maximum pulse range. Make sure that the arm does not hit the mechanical
stops. (Check the position of the mechanical stop and the motion range you set.)
Example: Using G6-**1S*
The angle of Joint #1 is set from -85 degrees to +115 degrees.
The angle of Joint #2 is set from -132 degrees to +132 degrees.
Execute the following commands from the [Command Window].
>MOTOR ON
>CP ON
>SPEED 5
>PULSE -1310720,0,0,0
>PULSE 6553600,0,0,0
>PULSE 2621440,-2275556,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2275556,0,0 ' Moves to the max. pulse position of Joint #2
The Pulse command (Go Pulse command) moves all joints to the specified positions
at the same time. Specify safe positions after considering motion of not only the
joints whose pulse range have been changed, but also other joints.
In this example, Joint #1 is moved to the center of its motion range (pulse value:
2621440) when checking Joint #2.
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the
mechanical stops, either reset the pulse range to a narrower setting or extend the
positions of the mechanical stops within the limit.
The number Recommended
of bolts tightening torque
127.4 N⋅m (1300 kgf⋅cm)
1 bolt /
one side
37.2 N⋅m (380 kgf⋅cm)
' Sets the pulse range of Joint #1
' Checks the setting using Range
' Turns ON the motor
' Enters low-power mode
' Sets at low speeds
' Moves to the min. pulse position of Joint #1
' Moves to the max. pulse position of Joint #1
G6 Rev.21