Table of Contents
Advertisement
Industrial Robot: SCARA Robots GX series Manual
100
(%)
100
80
60
40
20
0
-30
The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position.
✏
POINTS
Horizontal movement with the shaft lowered may cause overshooting during positioning.
2.5 Work Envelope
WARNING
Do not operate the Manipulator with the mechanical stop removed. Removing the mechanical stop is
extremely dangerous because the Manipulator may move to a position outside its normal work envelope.
CAUTION
When restricting the work envelope for safety reasons, be sure to make settings using both the pulse range
and mechanical stop.
The work envelope is preset at the factory as explained in the following section.
Standard Work Envelope
The work envelope can be set by one of the following three methods.
1. Setting by pulse range (for all joints)
2. Setting by mechanical stops (for Joints #1 to #3)
3. Setting the rectangular range in the XY coordinate system of the Manipulator (for Joints #1 and #2)
Mechanical
Stop
To limit the work envelope for layout efficiency or safety reasons, make the settings as explained in the following sections.
Work Envelope Setting by Pulse Range
Setting the Work Envelope by Mechanical Stops
Setting the Rectangular Range in the XY Coordinate System of the Manipulator
100
-60
-90
-120
Shaft height
Rectangular range setting
Work Envelope
Pulse range
100
-150
(mm)
Mechanical
Stop
Rev.7
95
Advertisement
Table of Contents
