Epson LS20-B Series User Manual

Setup & Operation 5. Motion Range
54 L
S20-B Rev.4
(5)
The upper end of the shaft
defines the maximum stroke. Move the lower limit
mechanical stop down by the length you want to limit the stroke.
For example, when the lower limit mechanical stop is set at
“420 mm” stroke, the
lower
limit Z coordinate value is “−420”. To change the value to “−100”, move the
lower limit mechanical stop down
“320 mm”. Use calipers to measure the distance
when
adjusting the mechanical stop.
Measure this
distance
(6)
Firmly tighten the lower limit mechanical stop screw
(set screws: 2-M5×6).
Recommended tightening torque:
3.9 N·m (39.8 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.
Lower limit of pulse (p
ulse)
= lower limit Z coordinate value (mm) / Resolution (
mm/pulse)
** For the Joint #3 resolution,
refer to the section Setup & Operation 2.4 Specifications.
Execute the following command from the [Command Window].
Enter the calculated
value in X.
>JRANGE 3,X,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.
EPSON
RC+

Epson LS20-B Series Specifications

General

Brand	Epson
Model	LS20-B Series
Category	Robotics
Language	English