Epson LS20 Series Manipulator Manual page 67

(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
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
EPSON
RC+
LS20 Rev.4
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Using LS20-804S
The angle of Joint #1 is set from –110 degrees to +110 degrees.
The angle of Joint #2 is set from -125 degrees to +125 degrees.
Execute the following commands from the [Command Window].
>JRANGE 1,
-400498
>JRANGE 2,-
284445
>RANGE
,
-400498 400498
, 0, -344064, 344064
arm 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 LS20-804S
The angle of Joint #1 is set from -110 degrees to +110 degrees.
The angle of Joint #2 is set from -125 degrees to +125 degrees.
Execute the following commands from the [Command Window].
>MOTOR ON
>CP ON
>SPEED 5
>PULSE -400498,0,0,0
>PULSE 400498,0,0,0
>PULSE 327680,-284445,0,0
>PULSE 327680,284445,0,0
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 the center of its 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.
Setup & Operation 5. Motion Range
,
' Sets the pulse range of Joint #1
400498
, ' Sets the pulse range of Joint #2
284445
' Checks the setting using Range
, - ,
284445 284445
' 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
, -283853
55