Epson GX Series Manual page 245

Industrial Robot: SCARA Robots GX series Manual
2. Push up the shaft while pressing the brake release switch.
Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be removed. Push the shaft up to a
position where the Joint #3 mechanical stop can be changed.
Symbol Description
a Brake release switch
b Lower limit mechanical stop
c Shaft
POINTS
✏
When you press the brake release switch, the shaft may lower or rotate due to the weight of the hand. Be
sure to hold the shaft by hand while pressing the switch.
3. Turn off the Controller.
4. Loosen the low-profile hexagon socket head cap bolts (2 × M5) on the lower limit mechanical stop.
POINTS
✏
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only the position of the lower
limit mechanical stop on the top can be changed. Do not remove the upper limit mechanical stop on the
bottom because the origin position of Joint #3 is determined by this stop.
5. The upper end of the shaft defines the maximum stroke position. Move the lower limit mechanical stop down by the length
that you want to limit the stroke.
For example, when the lower limit mechanical stop is set at the "200 mm" stroke, the lower limit Z coordinate value is
"-200". To change this value to "-150", move the lower limit mechanical stop down by "50 mm". Use calipers or similar
tool to measure the distance when adjusting the mechanical stop.
a
b
c
Rev.7
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