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(1) Turn OFF the Controller.
(2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
Joint
1, 2
(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 arm
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
EPSON
RC+
GX series Rev.2
and tighten it.
Hexagon socket
The number
head cap bolt
1 bolt /
M8×10
one side
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example:
Using GX4-A**1S*
The angle of Joint #1 is set from –110 degrees to +110 degrees.
The angle of Joint #2 is set from -120 degrees to +120 degrees.
Execute the following commands from the [Command Window].
>JRANGE 1,-582542,5825423
>JRANGE 2,-2184533,2184533
>RANGE
-582542, 5825423,-2184533,2184533,-1706667
,0, -1310720, 1310720
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 GX4-A**1S*
The angle of Joint #1 is set from -110 degrees to +110 degrees.
The angle of Joint #2 is set from -120 degrees to +120 degrees.
Execute the following commands from the [Command Window].
>MOTOR ON
>POWER LOW
>SPEED 5
>PULSE -582542,0,0,0
>PULSE 5825423,0,0,0
>PULSE 2621440,- 2184533,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2184533,0,0
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:
2621440) 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.
GX4 Manipulator 5. Motion Range
Recommended
of bolts
tightening torque
18.0 N⋅m
(194 kgf⋅cm)
' the pulse range of Joint #1
' Sets the pulse range of Joint #2
' Checks the setting using Range
' 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 max. pulse position of Joint #2
Strength
Equivalent to ISO898-1
property class: 10.9 or 12.9
67
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