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Industrial Robot: SCARA Robots GX series Manual
3. Setting the rectangular range in the XY coordinate system of the Manipulator (for Joints #1 and #2)
Mechanical
Stop
To limit the work envelope for layout efficiency or safety reasons, make the settings as explained in the following sections.
Work Envelope Setting by Pulse Range
Setting the Work Envelope by Mechanical Stops
Setting the Rectangular Range in the XY Coordinate System of the Manipulator
3.5.1 Work Envelope Setting by Pulse Range
Pulses are the basic unit of Manipulator motion. The motion range (work envelope) of the Manipulator is set by the pulse
lower limit value and pulse upper limit value (pulse range) for each joint.
Pulse values are read from the encoder output of the servomotor.
For the maximum pulse range, refer to the following sections.
The pulse range must be set within the mechanical stop range.
Joint #1 Maximum Pulse Range
Joint #2 Maximum Pulse Range
Joint #3 Maximum Pulse Range
Joint #4 Maximum Pulse Range
✏
POINTS
Once the Manipulator receives an operation command, it checks whether the target position specified by the
command is within the pulse range before operating. If the target position is outside of the pulse range that was
set, an error occurs and the Manipulator does not move.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [Range] panel, and make the setting.
This can also be set using the Range statement in [Command Window].
3.5.1.1 Joint #1 Maximum Pulse Range
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 is facing the positive (+) direction on the X-coordinate
axis.
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value
is defined as negative (-).
Rectangular range setting
Work Envelope
Pulse range
Mechanical
Stop
Rev.7
232
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