Part 1: Setup & Operation 8. Motion Range and Robot Coordinates
49
<Example> Joint #1 of the ES series manipulator is set from -65° to +95°and Joint #2
is set from -120° to +95°.
>JRANGE 1,22756,168392 ' Sets the pulse range of Joint #1
>JRANGE 2,-68267,54045 ' Sets the pulse range of Joint #2
>RANGE ' Displays RANGE values
22756, 168392, -68267, 54045, -52224, 0, -65536, 65536
Select the [RANGE] panel and set the minimum value for Joint #1 to 22756 and the
maximum value at 168392. Additionally, set the minimum value for Joint #2 at
-68267 and the maximum value at 54045.
>JRANGE 1,22756,168392 ' Sets the pulse range of Joint #1
>JRANGE 2,-68267,54045 ' Sets the pulse range of Joint #2
>RANGE ' Displays RANGE values
22756 168392
-68267 54045
-52224 0
-65536 65536
(5) Check the following:
Move the arm by hand until it touches the mechanical stop. The arm should not hit
any obstructions, such as peripheral equipment.
Using the PULSE/GO PULSE command, operate the joint at slow speed until it
reaches the position of the smallest and largest pulse range settings. The arm should
not hit the mechanical stops.
<Example in (4)>
Joint #1 is set from -85° to +115°and Joint #2 is set from -132° to +132°.
MOTOR ON
SPEED 5 ' Sets at slow speed.
PULSE 22756,0,0,0 ' Moves to the smallest pulse position
of Joint #1.
PULSE 168392,0,0,0 ' Moves to the largest pulse position of
Joint #1.
PULSE 81920,-68267,0,0 ' Moves to the smallest pulse position
of Joint #2.
PULSE 81920,54045,0,0 ' Moves to the largest pulse position of
Joint #2.
RC+
300
SPEL 95
300
RC+
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