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Industrial Robot: SCARA Robots GX series Manual
2. Install a hexagon socket head cap bolt into the threaded hole corresponding to the setting angle, and tighten it.
Hexagon Socket Head
Joint #
Cap Bolt
1
M12 × 20 full thread
2
M10 × 10 full thread
3. Turn on the Controller.
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 -105° to +105° and Joint #2 to -122.5° to +122.5° for the GX10-B854S
EPSON
RC+
Execute the following command in [Command Window].
>JRANGE 1,-436907,5679787
>JRANGE 2,-2230045,2230045 'Sets the pulse range of Joint #2
>RANGE
-436907,5679787,-2230045,2230045,-2270823,0,-1951517,1951517
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 -105° to +105° and Joint #2 to -122.5° to +122.5° for the GX10-B854S
EPSON
RC+
Execute the following command in [Command Window].
>MOTOR ON
>POWER LOW
>SPEED 5
>PULSE -436907,0,0,0
>PULSE 5679787,0,0,0
>PULSE 2621440,-2230045,0,0
>PULSE 2621440,2230045,0,0
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: 2621440) near the center of its work
envelope.
Number of
Recommended
Bolts
Tightening Torque
1
127.4 N·m (1300 kgf·cm)
2
73.5 N⋅m (750 kgf⋅cm)
'Sets the pulse range of Joint #1
'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
Strength
ISO898-1 property class 10.9 or 12.9
equivalent
Rev.7
342
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