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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 arm
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
EPSON
RC+
48
and tighten it.
Hexagon socket head cap
Joint
bolt (fully threaded)
1
M8 × 10
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example:
Using LS10-B602S
The angle of Joint #1 is set from −110
The angle of Joint #2 is set from −110
Execute the following commands from the [Command Window].
>JRANGE 1,
-72817
>JRANGE 2,-
250331
>RANGE
-72817, 728177, -250311, 250311, -270336, 0,
-215040, 215040
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 LS10-B602S
The angle of Joint #1 is set from −110
The angle of Joint #2 is set from −110
Execute the following commands from the [Command Window].
>MOTOR ON
>POWER LOW
>SPEED 5
>PULSE -72817,0,0,0
>PULSE 728177,0,0,0
>PULSE 327680,-250311,0,0
>PULSE 327680,250311,0,0
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 0
motion range (pulse value: 327680) 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
of bolts
1 bolt / side
,
' Sets the pulse range of Joint #1
728177
' Sets the pulse range of Joint #2
,
250331
' 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
' Moves to the min. pulse position of Joint #2
' Moves to the max. pulse position of Joint #2
position where is close to the center of its
°
Recommended
tightening torque
12.3 N⋅m (125 kgf⋅cm)
to +110
.
°
°
to +110
.
°
°
to +110
.
°
°
to +110
.
°
°
LS10-B Rev.6
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