Epson SCARA ROBOT User Manual

Setup & Operation 5. Motion Range
74 G6 Rev.21
(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
M10 × 20
1 bolt /
one side
127.4 N⋅m (1300 kgf⋅cm)
2
M8 × 10
37.2 N⋅m (380 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 G6-**1S*
The angle of Joint #1 is set from –135 degrees to +135 degrees.
The angle of Joint #2 is set from
-
125 degrees to +125 degrees.
EPSON
RC+
Execute the following command
s from the [Command Window].
>JRANGE 1,-1310720,6553600 ' Sets the pulse range of Joint #1
>JRANGE 2,-2275556,+2275556 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-1310720,6553600,-2275556,2275556,-1976708
,0,-1961226, 1961226
(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 t
hat the arm does not hit the mechanical
stops.
(Check the position of the mechanical stop and the motion range you set.)
Example
: Using G6-**1S*
The angle of Joint #1 is set from -85 degrees to +115 degrees.
The angle of Joint #2 is set from
-
132 degrees to +132 degrees.
EPSON
RC+
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 -1310720,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 6553600,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 2621440,-2275556,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2275556,0,0 ' Moves to the max. pulse position of Joint #2
The
Pulse command (Go Pulse command) moves all joints to the specified position
s
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 motion range
(pulse value:
2621440
) 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
position
s of the mechanical stops within the limit.

NOTE

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English