Epson G20 Series User Manual

Setup & Operation 5. Motion Range
G10 / G20 Rev.20 85
(6)
Firmly tighten two setscrews which are open at a 120 degree
s
interval so that they do
not enter the shaft groove.
Recommended tightening torque:
9.8 N·m (100 kgf·cm)
(7)
Turn ON the
Controller.
(8)
Move
Joint #3 to its lower limit while pressing the brake release switch, and
then
check the lower
limit position. Do not lower the mechanical stop too far
.
Otherwise, the joint
may not reach a target position.
(9)
Calculate the lower limit pulse
value of the pulse range using the formula
shown
below and set the value.
T
he result of the calculation is always negative because t
he lower limit Z coordinate
value
is negative.
G10-851S (Z: 180mm)
Lower limit of pulse = lower limit Z coordinate value/25×131072×(66/32)
G10-854S (Z: 420mm)
Lower limit of pulse = lower limit Z coordinate value/50×131072×(66/32)
Example:
When lowering the mechanical stop by 80 mm and changing the lower
limit Z coordinate value to “-100” in 180 mm stroke
(−100)/25×131072×(66/32) = −1081344
EPSON
RC+
Execute the following command from
the [Command Window].
>JRANGE 3,-1081344,0 ' Sets the pulse range of Joint #3
Example:
When lowering the mechanical stop by 320 mm and changing the lower
limit Z coordinate value to “-100” in 420 mm stroke
(−100) / 50 × 131072 × (66/32) = −540672
EPSON
RC+
Execute the following command from
the [Command Window].
>JRANGE 3,-540672,0 ' Sets the pulse range of Joint #3
(10)
Using the
Pulse command (Go Pulse command), move
Joint #3 to the lower limit
position of the pulse range at low speed.
If the mechanical stop range is less
than
the pulse range, Joint #3
will hit the mechanical stop and an error will occur.
When
the error occurs, either change
the pulse range to a lower setting
or extend the
position of the mechanical stop within the limit.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the
Controller and lift the arm top cover to check the condition causing the problem from
the side.
F
NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English