Motion Range Setting By Pulse Range (For All Joints) - Epson E2C Series Manipulator Manual

Setup & Operation 5. Motion Range

5.1 Motion Range Setting by Pulse Range (for All Joints)

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 joint.
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.
Once the Manipulator receives an operating command, it checks whether the target
NOTE
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 method for setting pulse ranges varies with the software used.
The pulse range can be set on the [RANGE] panel shown by selecting the [Setup]- [Robot
SPEL CT
Parameters].
EPSON RC+ 4.* or before（RC520/RC420）
EPSON
RC+
The pulse range can be set on the [RANGE] panel shown by selecting the [Project]-[Robot
Parameters].
You may also execute the RANGE command from the [EPSON RC+ Monitor Window].
EPSON RC+ 5.0 or later（RC170）
The pulse range can be set on the [Range] panel shown by selecting the [Tools]-[Robot
manager].
You may also execute the Range command from the [Command Window].
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5.1.1 Max. Pulse Range of Joint #1
5.1.2 Max. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4.
E2C Rev.6