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Industrial Robot: SCARA Robots GX series Manual
4.5 Work Envelope
WARNING
Do not operate the Manipulator with the mechanical stop removed. Removing the mechanical stop is
extremely dangerous because the Manipulator may move to a position outside its normal work envelope.
CAUTION
When restricting the work envelope for safety reasons, be sure to make settings using both the pulse range
and mechanical stop.
The work envelope is preset at the factory as explained in the following section.
Standard Work Envelope
The work envelope can be set by one of the following three methods.
1. Setting by pulse range (for all joints)
2. Setting by mechanical stops (for Joints #1 to #3)
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
4.5.1 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.
Rectangular range setting
Work Envelope
Pulse range
Mechanical
Stop
Rev.7
335
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