Epson LS10-B Series User Manual page 62

Setup & Operation 5. Motion Range
(7) Turn ON the Controller.
(8) Move Joint #3 to its lower limit while pressing the brake release switch, and then check
(9) Calculate the lower limit pulse value of the pulse range using the formula shown below
EPSON
RC+
(10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit
NOTE

EPSON
RC+
50
the lower limit position. Do not lower the mechanical stop too far. Otherwise, the
joint may not reach a target position.
and set the value.
The result of the calculation is always negative because the lower limit Z coordinate
value is negative.
Lower limit of pulse (pulse)
= lower limit Z coordinate value (mm) / Resolution (
** For the Joint #3 resolution,
refer to the section Setup & Operation 2.4 Specifications.
Execute the following command from the [Command Window].
calculated value in X.
>JRANGE 3,X,0
position of the pulse range at low speed.
the pulse range, Joint #3 will hit the mechanical stop and an error will occur. When
the error occurs, either change the pulse range to a lower setting or extend the position
of the mechanical stop within the limit.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the Controller
and lift the arm top cover to check the condition causing the problem from the side.
Execute the following commands from the [Command Window]. Enter the value
calculated in Step (9) in X.
>MOTOR ON '
'
>SPEED 5
>PULSE 0,0,X,0 '
' Sets the pulse range of Joint #3
If the mechanical stop range is less than
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.)
)
mm/pulse
Enter the
LS10-B Rev.6