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Industrial Robot: SCARA Robots GX series Manual
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 "-150" with a
200 mm stroke
EPSON
RC+
Execute the following command in [Command Window].
>MOTOR ON
>SPEED 5
>PULSE 0,0,-819200,0
(In this example, all pulses except those for Joint #3 are "0". Substitute these "0" values with the other pulse values to
specify a position where interference will not occur even when lowering Joint #3.)
3.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator
(For Joints #1 and #2)
Use this procedure to set the upper and lower limits of the X and Y coordinates.
This setting is a software-based limit only, and so it does not change the maximum physical range. The maximum physical
range is based on the position of the mechanical stops.
EPSON
RC+
Go to [Tools] - [Robot Manager] - [XYZ Limits] panel, and make the setting.
This can also be set using the XYLim statement in [Command Window].
3.5.4 Standard Work Envelope
The following "work envelope" diagrams show the model with standard (maximum) specifications. When each joint motor is
under servo control, the center of the Manipulator shaft's lowest point moves in the ranges shown in the figure.
Range to mechanical stop
This is the range where the center of shaft's lowest point can be moved when each joint motor is not under servo control.
Mechanical stop
This is the stop that sets the absolute work envelope where the Manipulator cannot move beyond mechanically.
Maximum zone
This is the range that contains the farthest reach of the arms where interference can occur. If the maximum radius of the
hand exceeds 60 mm, add the "Range to mechanical stop" and the "Radius of the hand." The total value is specified as the
maximum zone.
'Turns on the motor
'Sets to low speed
'Moves to the lower limit pulse position of Joint #3
Rev.7
247
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