Epson LS20-B Series User Manual

Setup & Operation 5. Motion Range
52
LS20-B Rev.4
(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 / side
13.0 N⋅m (132.7 kgf⋅cm)
2
M10 × 50
(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 LS20-B804S
The angle of Joint #1 is set from −110 to +110°.
The angle of Joint #2 is set from −120 to +120°.
Execute the following command
s from the [Command Window].
>JRANGE 1, -72817, 728177 ' Sets the pulse range of Joint #1
>JRANGE 2, -273066, 273066 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-72817, 728177, -273066, 273066, -283853, 0,
-344064, 344064
(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 LS20-B804S
The angle of Joint #1 is set from −110 to +110°.
The angle of Joint #2 is set from −120 to +120°.
Execute the following command
s from the [Command Window].
>MOTOR ON ' Turns ON the motor
>POWER LOW ' Enters low-power mode
>SPEED 5 ' Sets at low speeds
>PULSE -72817,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 728177,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 327680,-273066,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 327680,273066,0,0 ' 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
0° position where is close to the
center of its
mot
ion range (pulse value: 327680) 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.
EPSON
RC+
EPSON
RC+

NOTE

Epson LS20-B Series Specifications

General

Brand	Epson
Model	LS20-B Series
Category	Robotics
Language	English