Epson VT6L User Manual

TABLE OF CONTENTS
viii VT Rev.1
4. Setting of End Effectors 39
4.1 Attaching an End Effector .................................................................. 39
4.2 Attaching Cameras and Air Valves .................................................... 40
4.3 Weight and Inertia Settings ................................................................ 41
4.3.1 Weight Setting ........................................................................ 44
4.3.2 INERTIA Setting ..................................................................... 47
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .............. 51
5. Motion Range 52
5.1 Motion Range Setting by Pulse Range (for All Joints)....................... 52
5.1.1 Max. Pulse Range of Joint #1 ................................................ 53
5.1.2 Max. Pulse Range of Joint #2 ................................................ 53
5.1.3 Max. Pulse Range of Joint #3 ................................................ 54
5.1.4 Max. Pulse Range of Joint #4 ................................................ 54
5.1.5 Max. Pulse Range of Joint #6 ................................................ 54
5.1.6 Max. Pulse Range of Joint #6 ................................................ 55
5.2 Motion Range Setting by Mechanical Stops ...................................... 56
5.2.1 Motion Range Setting of Joint #1 ........................................... 56
5.2.2 Motion Range Setting of Joint #2 ........................................... 57
5.2.3 Motion Range Setting of Joint #3 ........................................... 58
5.3 Restriction of Manipulator Operation by Joint Angle Combination .... 59
5.4 Coordinate System ............................................................................. 60
5.5 Changing the Robot ........................................................................... 61
5.6 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator .............................. 62
6. Operation Mode & LED 63
6.1 Overview ............................................................................................ 63
6.2 Switch Operation Mode ...................................................................... 63
6.3 Program Mode (AUTO) ...................................................................... 64
6.3.1 What is Program Mode (AUTO)? ........................................... 64
6.3.2 Setup from EPSON RC+ 7.0 .................................................. 64
6.4 Auto Mode (AUTO) ............................................................................ 65
6.4.1 What is Auto mode (AUTO)? ................................................. 65
6.4.2 Setup from EPSON RC+ 7.0 .................................................. 65
6.4.3 Setup from Control Device ..................................................... 66
6.5 LED ..................................................................................................... 67
7. Development PC Connection Port 68
7.1 What is Development PC Connection Port ........................................ 68
7.2 Precaution .......................................................................................... 69
7.3 Software Setup and Connection Check ............................................. 69
7.4 Disconnection of Development PC and Manipulator ......................... 70

Epson VT6L Specifications

General

Brand	Epson
Model	VT6L
Category	Robotics
Language	English