Setup & Operation 5. Motion Range
N6 Rev.2 65
5. Motion Range
WARNING
■
limiting the motion range for safety, be sure to set by
the pulse range.
Failure to
do so may cause serious safety problems.
The motion range is preset at the factory as describes in the Setup & Operation 2.4
Standard Motion Range. This is the maximum motion range of the Manipulator.
Motion range is set by the following two methods:
1. Setting by pulse range (for all arms)
2. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the
Manipulator
Rectangular Range Setting
When the motion range is limited due to layout efficiency or safety, follow the descriptions
in 5.1 through 5.3 to set the range.
5.1 Motion Range Setting by Pulse Range (for Each Joint)
Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range (the lower limit and the upper limit) of each axis.
Pulse values are read from the encoder output of the servo motor.
The pulse range should be set within the maximum motion range.
Once the Manipulator receives an operating command, it checks whether the target
position specified by the command is within the pulse range before operating. If the
target position is out of the set pulse range, an error occurs and the Manipulator does not
move.
The pulse range can be set
in [Tools]-[Robot manager]-[Range] panel.
You may also execute the Range
command from the [Command Window].
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