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Industrial Robot: SCARA Robots GX series Manual
Recommended tightening torque: 8.0 ± 0.4 N⋅m(82 ± 4 kgf⋅cm)
Symbol
Description
a
Helical groove
b
Cylindrical surface
7. Turn on the Controller.
8. Press down Joint #3 while pressing the brake release switch, and then check the lower limit position. Do not lower the
mechanical stop too far. Otherwise, the joint may not reach a target position.
9. Calculate the lower limit pulse value of the pulse range using the formula shown below, and set the value.
The result of the calculation is always negative because the lower limit Z coordinate value is negative.
GX10-B**1S (Z: -180 mm): Lower limit of pulse = (Lower limit Z coordinate value)/50 × 131072 × (66/32)
GX10-B**4S (Z: -420 mm): Lower limit of pulse = (Lower limit Z coordinate value)/50 × 131072 × (66/32)
Example: To lower the mechanical stop by 80 mm and change the lower limit Z coordinate value to"-100" with a
180 mm stroke
(-100)/50 × 131072 × (66/32) = -540672
EPSON
RC+
Execute the following command in [Command Window].
>JRANGE 3,-540672,0
10. Using the Pulse statement (Go Pulse statement), move Joint #3 to the lower limit position of the pulse range that was set at
low speed.
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 80 mm and change the lower limit Z coordinate value to "-100" with a
180 mm stroke
EPSON
RC+
Execute the following command in [Command Window].
>MOTOR ON
>SPEED 5
>PULSE 0,0,- 540672,0
'Sets the pulse range of Joint #3
'
Turns on the motor
'
Sets to low speed
'
Moves to the lower limit pulse position of Joint #3
Rev.7
348
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