Epson E2C Series Manipulator Manual page 71

Joint #2
E2C251*
E2C351*
(1) Turn OFF the Controller.
(2) Tighten a hexagon socket head cap bolt into the hole corresponding to the setting
(3) Turn ON the Controller.
(4) Set the pulse range corresponding to the new positions of the mechanical stops.
NOTE
E2C Rev.6
Mechanical stop of Joint #2
+110° (62578 pulse)
+135° (76800 pulse) (standard)
Mechanical stop of Joint #2
+120° (68267 pulse)
+145° (82489 pulse) (standard)
angle.
Hexagon socket head
Joint
cap bolt
M8×10 (fully threaded)
1
two M10 nuts
one plain washer
2 M6×10 (fully threaded)
Be sure to set the pulse range inside the positions of the mechanical stop range.
<Example: The angle of Joint #1 is set from – 90 degrees to + 0 degrees
The angle of Joint #2 is set from – 110 degrees to + 135 degrees>
The method for setting pulse ranges varies with the software used.
Setup & Operation 5. Motion Range
-110° (-62578 pulse)
-135° (-76800 pulse) (standard)
-120° (-68267 pulse)
-145° (-82489 pulse) (standard)
The number of Recommended tightening
bolts
3720 N⋅cm
1 (one side)
1860 N⋅cm
(º: degree)
torque
(380 kgf⋅cm)
(190 kgf⋅cm)
59