Setup & Operation 5. Motion Range
60 S5 Rev.5
5.1 Motion Range Setting by Pulse Range (for All Arms)
Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range between the pulse lower limit and upper limit of each axis.
Pulse values are read from the encoder output of the servo motor.
For the maximum pulse range, refer to the following sections.
The pulse range must be set inside of the mechanical stop range.
5.1.1 Max. Pulse Range of Arm #1
5.1.2 Max. Pulse Range of Arm #2
5.1.3 Max. Pulse Range of Arm #3
5.1.4 Max. Pulse Range of Arm #4
5.1.5 Max. Pulse Range of Arm #5
5.1.6 Max. Pulse Range of Arm #6
CAUTION
■
Do not set and/or use the Arm #4 with pulse range beyond the maximum value.
4 does not have a mechanical stop. The used of Arm #4 in motion
exceeding the maximum pulse range
may cause inner wiring damage to and/or
Manipulator.
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 from EPSON RC+-[Tools]-[Robot manager]-[Range] panel.
You may also execute the Range command from the [Command Window].
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