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Setup & Operation 5. Motion Range
(6) The upper end of the shaft defines the
(7) Securely tighten the bolt (for the split muff coupling) in the appropriate position.
(8) Install the arm top cover. (Only for -UL type)
(9) Turn ON the Controller.
(10) Move Joint #3 to its lower limit while pushing the brake release button, and then check
(11) Calculate the lower limit pulse value of the pulse range using the formula shown below
SPEL CT
EPSON
RC+
62
maximum stroke.
Move the lower limit
mechanical stop down by the length you
want to limit the stroke.
For
example,
when
mechanical stop is set at "120 mm" stroke
(standard), the lower limit Z coordinate
value is "-120". To change the value to
"-100", move the lower limit mechanical
stop down "20 mm".
measure the distance when adjusting the
mechanical stop.
Recommended tightening torque: 245 N⋅cm (25 kgf⋅cm)
For details on the installation method, refer to Maintenance: 3.1 Arm Top Cover.
the lower limit position. Do not lower the mechanical stop too far. Otherwise, the
joint does not reach target position.
and set the value.
The result of the calculation is always negative because the lower limit Z coordinate
value is negative.
Lower limit of pulse = lower limit Z coordinate value / 16 × 4096 × 1.2
< Example: When lowering the mechanical stop by 20 mm and changing the lower
limit Z coordinate value to "−100" in 120 mm stroke>
(-100) / 16 × 4096 × 1.2 = -30720
The method for setting pulse ranges varies with the software used.
Select the [RANGE] panel, and set the lower limit value at "−30720" and the upper
limit value at "0" for Joint #3.
Execute the following command.
[Monitor Window]
[Command Window] EPSON RC+ 5.0 or later（RC170）
>JRANGE 3,-30720,0
Measure
this
distance
the
lower
limit
Use calipers to
EPSON RC+ 4.* or before（RC520/RC420）
'
Sets the pulse range of Joint #3
E2C Rev.6
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