Epson G3 Series User Manual

Setup & Operation 5. Motion Range
68 G3 Rev.14
(1)
Turn OFF the
Controller.
(2)
Install
a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and
tighten it.
Joint
Hexagon socket head cap
bolt (fully threaded)
The number
of bolts
Recommended
tightening torque
1
M8 × 10
1 bolt /
one side
37.2 N⋅m (380 kgf⋅cm)
(3)
Turn ON the
Controller.
(4)
Set the pulse range corresponding to the new positions of the mechanical stops.
Be sure to set the pulse range
inside the positions of the mechanical stop range.
Example:
Using G3-251S*
The angle of Joint #1 is set from –110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
120 degrees to +120 degrees.
EPSON
RC+
Execute the following command
s from the [Command Window].
>JRANGE 1,-582542,5825423 ' the pulse range of Joint #1
>JRANGE 2,-2184533,2184533 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-582542, 5825423,-2184533,2184533,-1706667
,0, -1494221, 1494221
(5)
Move the arm by hand until it touches the mechanical
stops
, and make sure that the
arm does not hit
any peripheral equipment during operation.
(6)
O
perate the joint changed at low speeds until it reaches the positions of the minimum
and
maximum pulse range. Make sure that the arm does not hit the
mechanical
stops.
(Check the position of the mechanical stop and the motion range you set.)
Example
: Using G3-251S*
The angle of Joint #1 is set from -110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
120 degrees to +120 degrees.
EPSON
RC+
Execute the following command
s from the [Command Window].
>MOTOR ON ' Turns ON the motor
>CP ON ' Enters low-power mode
>SPEED 5 ' Sets at low speeds
>PULSE -582542,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 5825423,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 2621440,- 2184533,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2184533,0,0 ' Moves to the max. pulse position of Joint #2
The Pulse command (Go Pulse command)
moves all joints to the specified positions
at
the same time.
Specify safe positions after considering motion of not only the joints
whose pulse range have been changed, but also other joints
.
In this example, Joint #1 is moved to the center of its motion
range (pulse value:
2621440) when checking Joint #2.
If the arm
is hitting the mechanical stop
s or if an error occurs after the arm hits the
mechanical stops
, either
reset the pulse range to a narrower setting or extend the
position
s of the mechanical stops within the limit.

NOTE

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English