Epson LS-B Series Manual page 193

(5) The upper end of the shaft defines the maximum stroke.
(6) Firmly tighten the lower limit mechanical stop screw (set screws: 2-M5×6).
(7) Turn ON the Controller.
(8) Move Joint #3 to its lower limit while pressing the brake release switch, and then check
(9) Calculate the lower limit pulse value of the pulse range using the formula shown below
EPSON
RC+
LS-B series Rev.5
mechanical stop down by the length you want to limit the stroke.
For example, when the lower limit mechanical stop is set at "420 mm" stroke, the
lower limit Z coordinate value is "−420". To change the value to "−100", move the
lower limit mechanical stop down "320 mm". Use calipers to measure the distance
when adjusting the mechanical stop.
Recommended tightening torque: 3.9 N·m (39.8 kgf·cm)
the lower limit position. Do not lower the mechanical stop too far. 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 Appendix A: Specifications.
Execute the following command from the [Command Window]. Enter the calculated
value in X.
>JRANGE 3,X,0 ' Sets the pulse range of Joint #3
LS20-B Manipulator 5. Motion Range
Measure this
distance
Move the lower limit
)
mm/pulse
175