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Setup & Operation 5. Motion Range
EPSON
RC+
EPSON
RC+
5.3 Setting the Cartesian (Rectangular) Range in the XY
Coordinate System of the Manipulator (for Joints #1 and #2)
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting is only enforced by software. Therefore, it does not change the physical
range. The maximum physical range is based on the position of the mechanical stops.
Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot
EPSON
RC+
Manager].
(You may also execute the XYLim command from the [Command Window].)
86
Example:
When lowering the mechanical stop by 80 mm and changing the lower
limit Z coordinate value to "-100" in 180 mm stroke
Execute the following commands from the [Command Window].
>MOTOR ON
>SPEED 5
>PULSE 0,0,-1081344,0 ' Moves to the lower limit-pulse position of Joint #3.
Example:
When lowering the mechanical stop by 320 mm and changing the lower
limit Z coordinate value to "-100" in 420 mm stroke
Execute the following commands from the [Command Window].
>MOTOR ON
>SPEED 5
>PULSE 0,0,-540672,0
' Turns ON the motor
' Sets low speed
(In this example, all pulses except those for Joint #3
are "0". Substitute these "0s" with the other pulse
values specifying a position where there is no
interference even when lowering Joint #3.)
' Turns ON the motor
' Sets low speed
' Moves to the lower limit-pulse position of Joint #3.
(In this example, all pulses except those for Joint #3
are "0". Substitute these "0s" with the other pulse
values specifying a position where there is no
interference even when lowering Joint #3.)
G10 / G20 Rev.20
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