Setting The Mechanical Stop Of Joint #3 - Epson E2C Series Manipulator Manual

5.2.2 Setting the Mechanical Stop of Joint #3

This method applies only to the Standard-model Manipulator.
NOTE
For the Cleanroom-model Manipulator, the motion range set with the Joint #3 mechanical
stop cannot be changed.
(1) Turn ON the Controller and turn OFF the motors using the MOTOR OFF command.
(2) Push up the shaft while pushing the Joint #3
NOTE
(3) Turn OFF the Controller.
(4) Remove the arm top cover. (Only for -UL type)
(5) Loosen the lower limit mechanical stop.
NOTE
E2C Rev.6
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 position near the center of its motion range
(pulse value: 40960) when checking Joint #2.
If the arm is hitting the mechanical stops 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.
brake release button.
Do not push the shaft up to its upper limit
since it is difficult for the arm top cover to
be removed. Push the shaft up to the
position where the position of the Joint #3
mechanical stop can be changed.
When you push the Joint #3 brake release
button, the shaft may lower due to the
weight of the end effector. Be sure to hold
the shaft by hand while pushing the button.
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only
the position of the lower limit mechanical stop on the top can be changed. Do not
remove the upper limit mechanical stop on the bottom because the calibration point of
Joint #3 is specified.
Setup & Operation 5. Motion Range
Brake release button
Shaft
Lower limit
mechanical stop
M3×10
(split muff
coupling)
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