Epson LS20 Series Manipulator Manual page 69

(8) Move Joint #3 to its lower limit while pressing the brake release switch, and then
(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+
LS20 Rev.4
check the lower limit position.
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 ' Sets the pulse range of Joint #3
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 ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,X,0 ' Moves to the lower limit-pulse position of Joint #3.
Setup & Operation 5. Motion Range
Do not lower the mechanical stop too far.
If the mechanical stop range is less than
(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
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