Setting The Mechanical Stop Of Joint #3 - Epson LS3-401 series Manipulator Manual

Setup & Operation 5. Motion Range

5.2.2 Setting the Mechanical Stop of Joint #3

NOTE This method applies only to the Standard-model manipulator (LS3-401S, LS6-**2S).

For the Cleanroom-model (LS3-401C, LS6-**2C
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
NOTE

(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (M3×10).
NOTE

(5) The upper end of the shaft defines the
(6) Firmly tighten the lower limit mechanical stop screw (M3×10).
(7) Turn ON the Controller.
60
brake 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.
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 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 "-130", move the lower limit
mechanical stop down "20 mm". Use
calipers to measure the distance when
adjusting the mechanical stop.
Recommended tightening torque: 2.45 N·m (25 kgf·cm)
the motion range set with the Joint #3
),
Push the
Measure
this distance.
Brake release switch
Lower limit
mechanical
stop screw
M3×10
Shaft
LS Rev.10