Setting The Mechanical Stop Of Joint #3 - Epson SCARA ROBOT Manipulator Manual

5.2.2 Setting the Mechanical Stop of Joint #3

This method applies only to the Standard-model Manipulator (
NOTE

Manipulator (G6-***D* without bellows option).
For the Cleanroom-model (
the motion range set with the Joint #3 mechanical stop cannot be changed.
(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
(2) Push up the shaft while pressing the brake
NOTE

(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (M4×15).
NOTE

(5) The upper end of the shaft defines the
(6) Firmly tighten two lower limit mechanical stop screws (M4 × 15) so that they do not
(7) Turn ON the Controller.
G6 Rev.21
G6-***C*) and Protected-model (G6-***D* with bellows option)
release switch.
Do not push the shaft up to its upper limit
or it will be difficult for the arm top cover
to be removed. Push the shaft up to a
position where the Joint #3 mechanical
stop can be changed.
When you press the brake release switch, the shaft may lower and rotate due to the
weight of the end effector. Be sure to hold the shaft by hand while pressing the
button.
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only
the position of the lower limit mechanical stop on the top can be changed. Do not
remove the upper limit mechanical stop on the bottom because the calibration point of
Joint #3 is specified using the stop.
maximum stroke. Move the lower limit
mechanical stop down by the length you
want to limit the stroke.
For example, when the lower limit
mechanical stop is set at "150 mm" stroke,
the lower limit Z coordinate value is
"-150". To change the value to "-100",
move the lower limit mechanical stop
down "50 mm". Use calipers to measure
the distance when adjusting the mechanical
stop.
enter the shaft groove.
Recommended tightening torque: 4.9 N·m (50 kgf·cm)
Setup & Operation 5. Motion Range
G6-***S*)/Protected-model
Brake release switch
Measure this distance.
,
Lower limit
mechanical
stop
2-M5×6
75