Motion Range Setting By Joint #3 Mechanical Stops - Epson RS Series Manual

RS3 RS4 Manipulator 5. Motion Range

5.2 Motion Range Setting by Joint #3 Mechanical Stops

(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
(2) Remove the Arm #2 cover (4-M4×10).
(3) Push up the shaft while pressing the brake
NOTE

(4) Turn OFF the Controller.
(5) Loosen the lower limit mechanical stop screw (M3×10).
NOTE

(6) The upper end of the shaft defines the maximum
(7) Firmly tighten two lower limit mechanical stop screws (M3×10).
(8) Turn ON the Controller.
(9) Move Joint #3 to its lower limit while pressing the brake release switch, and then check
52
release switch.
When you press the brake release switch,
the shaft may lower due to the weight of the
end effector. Be sure to hold the shaft by
hand while pressing the button.
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only
the position of the lower limit mechanical stop on the top can be changed. Do not
remove the upper limit mechanical stop on the bottom because the calibration point of
Joint #3 is specified using the stop.
stroke. Move the lower limit mechanical stop
down by the length you want to limit the stroke.
For example, when the lower limit mechanical
stop is set at "130 mm" stroke, the lower limit Z
coordinate value is "−130".
value to "−100", move the lower limit
mechanical stop down "30 mm". Use calipers
to measure the distance when adjusting the
mechanical stop.
Recommended tightening torque: 2.45 N⋅m (25 kgf⋅cm)
the lower limit position. Do not lower the mechanical stop too far. Otherwise, the
joint may not reach a target position.
Lower limit
mechanical
stop
M3×10
Measure
this distance.
To change the
Illustration: RS3-351S
Brake release
switch
Shaft
RS series Rev.4