Epson T-B Series User Manual

T3-B T6-B Manipulator 5. Motion Range
82 T-B series Rev.1
(
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 T3-B401S
The angle of Joint #1 is set from -110° to +110°.
The angle of Joint #2 is set from -120° to +120°.
Execute the following command
s from the [Command Window].
>MOTOR ON ' Turns ON the motor
>POWER LOW ' 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,-273066,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 204800,273066,0,0 ' 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 motion 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
positions of the mechanical stops within the limit.
5.2.2 Setting the Mechanical Stop of Joint #3
(
1)
Turn ON the Manipulator and turn OFF the motors using the Motor OFF command.
(
2)
Push up the shaft while pressing the brake
release switch.
Do not push the
shaft up to its upper limit or it
will be difficult for the arm top cover to be
removed.
Push the shaft up to a position where
the Joint #3 mechanical stop can be changed.
Lower limit
mechanical
stop screw
T3-B：
M3×10
T6-B：M4×15
Brake release switch
Shaft
When you press
the brake release switch, the shaft may lower due to
the weight of the
end effector.
Be sure to hold the shaft by hand while pressing the button.
(
3)
Turn OFF the
Manipulator.
(4)
Loosen the lower limit mechanical stop screw
(T3-B: M3×10, T6-B: M4×15).
EPSON
RC+

NOTE

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English

Summary

SCARA ROBOT T-B series MANUAL

Foreword

Before Reading This Manual

Key information and notes before starting to read the manual.

Installation

1. Safety

General safety precautions and conventions for installation.

2. Installation

System example, unpacking, transportation, and environmental setup.

4. First Step

Installing software and connecting the PC to the manipulator.

T3-B T6-B Manipulator

1. Safety

Design, installation, operation, emergency stop, and safeguard safety.

2. Specifications

Model number, part names, outer dimensions, and system examples.

3. Environments and Installation

Environmental conditions, base table, mounting dimensions, and procedures.

4. Setting of End Effectors

Attaching end effectors, cameras, valves, and setting weight/inertia.

5. Motion Range

Setting motion limits via pulse range and mechanical stops.

11. EMERGENCY

Safeguard, emergency stop switch connection, and circuit diagrams.

17. Restrictions

Commands and functions with limitations or potential errors.

Regular Inspection

1. Regular Inspection for T3-B T6-B Manipulator

Maintenance inspection procedures, schedule, and points.

1.3 Greasing

Ball screw spline and gear unit greasing procedures.

Appendix

Appendix A: Specifications

Detailed specifications for T3-B and T6-B manipulator models.

Appendix B: Time and Distance of Free Running in Emergency

Graphs showing free running time/distance in emergency stops.