Epson E2C Series Manipulator Manual page 72

Setup & Operation 5. Motion Range
SPEL CT
EPSON
RC+
(5) Move the arm by hand until it touches the mechanical stops, and make sure that the
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
SPEL CT
EPSON
RC+
60
Select the [RANGE] panel. Set the lower limit value at "0" and the upper limit
value at "81920" for Joint #1. Additionally, set the lower limit value at "– 62578"
and the upper limit value at "76800" for Joint #2.
Execute the following commands.
[Monitor Window]
[Command Window] EPSON RC+ 5.0 or later（RC170）
>JRANGE 1,0,81920
>JRANGE 2,-62578,76800
>RANGE
0,81920,-62578,76800,-36864,0,-46695,46695
arm does not hit any peripheral equipment during operation.
and maximum pulse range. Make sure that the arm does not hit the mechanical
stops.
<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.
Click the <Debug Pane> button, and execute the following commands from
the [Command Execution] Window.
MOTOR ON
SPEED 5
GO PULSE(0,0,0,0)
GO PULSE(81920,0,0,0)
GO PULSE(40960,-62578,0,0) '
GO PULSE(40960,76800,0,0)
Execute the following commands.
[Monitor Window]
[Command Window] EPSON RC+ 5.0 or later（RC170）
>MOTOR ON
>SPEED 5
>PULSE 0,0,0,0
>PULSE 81920,0,0,0
>PULSE 40960,-62578,0,0
>PULSE 40960,76800,0,0
EPSON RC+ 4.* or before（RC520/RC420）
'
Sets the pulse range of Joint #1
'
Sets the pulse range of Joint #2
'
Checks the setting using RANGE
'
Turns ON the motor
'
Sets at low speeds
'
Moves to the min. pulse position of Joint #1
'
Moves to the max. pulse position of Joint #1
Moves to the min. pulse position of Joint #2
'
Moves to the max. pulse position of Joint #2
EPSON RC+ 4.* or before（RC520/RC420）
'
Turns ON the motor
'
Sets at low speeds
'
Moves to the min. pulse position of Joint #1
'
Moves to the max. pulse position of Joint #1
'
Moves to the min. pulse position of Joint #2
'
Moves to the max. pulse position of Joint #2
E2C Rev.6