Epson GX Series Manual page 239

Industrial Robot: SCARA Robots GX series Manual
4. Set the pulse range corresponding to the new positions of the mechanical stops.
POINTS
✏
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Setting Joint #1 to -135° to +135° and Joint #2 to -125° to +125° for the GX8-A**2S*
EPSON
RC+
Execute the following command in [Command Window].
>JRANGE 1,-819200,4096000
>JRANGE 2,-2275556,+2275556
>RANGE
-819200,4096000,-2275556,2275556,-1092267,0,-1668189, 1668189
5. Move the arm by hand until it touches the mechanical stops to check that nothing will hinder the arm motion during
operation, such as by hitting peripheral equipment.
6. Operate the joint with the new settings at low speeds until it reaches the positions of the minimum and maximum values of
the pulse range. Check that the arm does not hit any mechanical stops.
(Check the position of the mechanical stops and the motion range that were set.)
Example: Setting Joint #1 to -85° to +115° and Joint #2 to -100° to +100° for the GX8-A**2S*
EPSON
RC+
Execute the following command in [Command Window].
>MOTOR ON
>POWER LOW
>SPEED 5
>PULSE 91022,0,0,0
>PULSE 3731912,0,0,0
>PULSE 1638400,-1820444,0,0
>PULSE 1638400,1820444,0,0
The Pulse statement (Go Pulse statement) moves all joints to the specified positions at the same time. Set safe positions after
taking into consideration the motion of the joints whose pulse range have been changed and also the other joints.
In this example, when checking Joint #2, Joint #1 is moved to the 0° position (pulse value: 1638400) near the center of its work
envelope.
If the arm hits a mechanical stop or if an error occurs after the arm hits a mechanical stop, either reset the pulse range to a
narrower pulse range so that nothing blocks the arm motion, or extend the positions of the mechanical stops within the limit.
'Sets the pulse range of Joint #1
'Sets the pulse range of Joint #2
'Confirms the setting value using the Range statement
'Turns on the motor
'Sets to low power mode
'Sets to low speed
'Moves to the minimum pulse position of Joint #1
'Moves to the maximum pulse position of Joint #1
'Moves to the minimum pulse position of Joint #2
'Moves to the maximum pulse position of Joint #2
Rev.7
239