Epson GX Series Manual page 109

Industrial Robot: SCARA Robots GX series Manual
"-150". To change this value to "-130", move the lower limit mechanical stop down by 20 mm. Use calipers or similar tool
to measure the distance when adjusting the mechanical stop.
a
Symbol Description
a Measurement length
6. Firmly tighten the lower limit mechanical stop screw (M3 × 10) while being careful that it does not enter the shaft groove.
Recommended tightening torque: 2.4 N·m (25 kgf·cm)
7. Turn on the Controller.
8. Press down Joint #3 while pressing the brake release switch, and then check the lower limit position. Do not lower the
mechanical stop too far. Otherwise, the joint may not reach a target position.
9. Calculate the lower limit pulse value of the pulse range using the formula shown below, and set the value.
The result of the calculation is always negative because the lower limit Z coordinate value is negative.
GX4-A**1S*(Z:-150 mm): Lower limit of pulse = (lower limit Z coordinate value)/16 × 131072 × (50/36)
Example: To lower the mechanical stop by 50 mm and change the lower limit Z coordinate value to "-100" with a
150 mm stroke
(-100)/16131072 × (50/36) = -1137778
EPSON
RC+
Execute the following command in [Command Window].
>JRANGE 3,-1137778 ,0
10. Using the Pulse statement (Go Pulse statement), move Joint #3 to the lower limit position of the pulse range that was set at
low speed.
If the mechanical stop range is less than the pulse range, Joint #3 will hit the mechanical stop and an error will occur. When
an error occurs, either change the pulse range to a narrower setting or extend the position of the mechanical stop within the
limit.
Example: To lower the mechanical stop by 50 mm and change the lower limit Z coordinate value to "-100" with a
150 mm stroke
' Sets the pulse range of Joint #3
Rev.7
109