Motion Range Setting By Pulse Range (For All Joints); Max. Pulse Range Of Joint #1 - Epson SCARA GX Series Manual

GX8 Manipulator 5. Motion Range

5.1 Motion Range Setting by Pulse Range (for All Joints)

Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range between the pulse lower limit and upper limit of each joint.
Pulse values are read from the encoder output of the servo motor.
For the maximum pulse range, refer to the following sections.
The pulse range must be set inside of the mechanical stop range.
Once the Manipulator receives an operating command, it checks whether the target position
NOTE

specified by the command is within the pulse range before operating. If the target position
is out of the set pulse range, an error occurs and the Manipulator does not move.
The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot
EPSON
Manager]. (You may also execute the Range command from the [Command Window].)
RC+

5.1.1 Max. Pulse Range of Joint #1

The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive
(+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
Arm length
(mm)
A
450
Max. motion
550
range
650
(deg.)
B
450
Max. pulse
550
range
650
(pulse)
162
5.1.1 Max. Pulse Range of Joint #1
5.1.2 Max. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4.
+ A
+ B
Table top
±152
- 1128676 to +4405476
+Y
- A
- B
Mounting specification
Ceiling
±105
±152
- 273067 to +3549867
- 1128676 to +4405476
+X 0 pulse
Wall
±105
±135
±148
- 273067 to +3549867
- 819200 to +4096000
- 1055858 to +4332658
GX series Rev.2