Epson LS3-401 series User Manual

Setup & Operation 5. Motion Range
LS Rev.10 59
(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
12.3 N⋅m (125 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 LS3-401S
The angle of Joint #1 is set from –110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
125 degrees to +125 degrees.
Execute the following command
s from the [Command Window].
>JRANGE 1,
-45512, 455112 ' Sets the pulse range of Joint #1
>JRANGE 2,-
284445, 284445 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-45512, 455112, -284445, 284445, -150187
,0, -186778, 186778
(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 LS3-401S
The angle of Joint #1 is set from -110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
125 degrees to +125 degrees.
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 -45512,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 455112,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 204800,-284445,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 204800,284445,0,0 ' 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 mot
ion range (pulse value:
204800
) 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
posi
tions of the mechanical stops within the limit.
EPSON
RC+
EPSON
RC+

NOTE

Epson LS3-401 series Specifications

General

Brand	Epson
Model	LS3-401 series
Category	Robotics
Language	English