Setup & Operation 5. Motion Range
L
S20-B Rev.4 55
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.
Execute the following commands from the [Command Window].
calculated in Step (9) in X.
' Turns ON the motor
' Sets low speed
X,0 ' Moves to the lower limit-pulse position of Joint #3.
(In this example, all pulses except those for Joint #3 are “0”. S
these “0s” with the other pulse values specifying a position where there
is
no interference even when lowering Joint #3.)
5.3 Setting the Cartesian (Rectangular) Range in the XY
Coordinate System of the Manipulator (for Joints #1 and #2)
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting is only enforced by software. Therefore, it does not change the physical range.
The maximum physical range is based on the position of the mechanical stops.
Set the XYLim setting on the [XYZ Limits] panel
shown by selecting [Tools]-
(You may also execute the XYLim command from the [Command Window].)
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