Changing Motion Range Using X, Y Limits - Epson ES Series Manipulator Manual

8. Motion Range and Robot Coordinates

(3) Changing motion range using X, Y limits

WARNING
NOTE
RC+
SPEL 95
54
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting applies only to the software, so it does not change the physical
range. The maximum physical range is based on the positions of the
mechanical stops.
If you need to change this setting for ES45**/EL65**, you must be careful because the end
effector may hit the rear side of the manipulator depending on the motion.
Set the X Y range by using the XYLIM tab in the Project | Robot Parameters dialog.
(Refer to the chapter EPSON RC+ GUI in the EPSON RC+ User's Guide.) You may also
execute the XYLIM command from the EPSON RC+ Monitor Window.
For only ES45**, at the factory shipping, it is set as follows:
coordinate lower limits [mm]
X
-90
Y
-450
For only EL65**, at the factory shipping, it is set as follows:
coordinate lower limits [mm]
X
-120
Y
-650
For example:
>XYLIM -90,90,-450,0
Set the X Y range by using the [XYLIM] panel. For details on the [XYLIM] panel, Refer
to Chapter 11, section Setting the Robot Parameters in the User's Guide.
For only ES45**, at the factory shipping, it is set as follows:
coordinate lower limits [mm]
X
-90
Y
-450
For only EL65**, at the factory shipping, it is set as follows:
coordinate lower limits [mm]
X
-120
Y
-650
For example:
>XYLIM -90,90,-450,0
Part 1: Setup & Operation
upper limits [mm]
90
Figure 21-1 in this chapter
0
upper limits [mm]
120
Figure 22-1 in this chapter
0
upper limits [mm]
90
Figure 21-1 in this chapter
0
upper limits [mm]
120
Figure 22-1 in this chapter
0
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