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(12) Using the PULSE command (GO PULSE command), move Joint #3 to the lower
NOTE
SPEL CT
EPSON
RC+
E2C Rev.6
limit position of the pulse range at low speeds.
than the pulse range, Joint #3 will hit the mechanical stop and an error will occur.
When the error occurs, either change the pulse range to a lower setting or extend the
position of the mechanical stop within the limit.
The clearance between the lower-limit pulse position and the mechanical stop should
be approximately 11 mm.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the
Controller and lift the arm top cover to check the condition causing the problem from
the side.
For details on the removal method, refer to Maintenance: 3.1 Arm Top Cover.
< Example: When lowering the mechanical stop by 20 mm and changing the lower
limit Z coordinate value to "−100" in 120 mm stroke >
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,-30720,0) '
Execute the following commands.
[Monitor Window]
[Command Window] EPSON RC+ 5.0 or later（RC170）
>MOTOR ON
>SPEED 5
>PULSE 0,0,-30720,0
Setup & Operation 5. Motion Range
'
Turns ON the motor
'
Sets at low speeds
Moves to the lower limit-pulse position of Joint #3. (In
this example, all pulses except those for Joint #3 are "0".
Substitute these "0s" with the other pulse values specifying
a position where there is no interference even when
lowering Joint #3.)
EPSON RC+ 4.* or before（RC520/RC420）
'
Turns ON the motor
'
Sets at low speeds
'
Moves to the lower limit-pulse position of Joint #3. (In
this example, all pulses except those for Joint #3 are "0".
Substitute these "0s" with the other pulse values specifying
a position where there is no interference even when
lowering Joint #3.)
If the mechanical stop range is less
63
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