Motion Range; Motion Range Setting By Pulse Range (For Each Joint) - Epson C Series Manual

C8 Manipulator 5. Motion Range

5. Motion Range

■ When limiting the motion range for safety, be sure to set by both the pulse range
and mechanical stops. Failure to do so may cause serious safety problems.
WARNING
The motion range is preset at the factory as describes in "2.5 Standard Motion Range". This
is the maximum motion range of the Manipulator.
Motion range is set by the following three methods:
Mechanical
When the motion range is changed due to layout efficiency or safety, follow the descriptions
in 5.1 through 5.4 to set the range.

5.1 Motion Range Setting by Pulse Range (for Each Joint)

Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is
controlled by the pulse range (the lower limit and the upper limit) of each axis.
Pulse values are read from the encoder output of the servo motor.
The pulse range should be set within the mechanical stop range.
NOTE
The Arm #1 and #4 do not have a mechanical stop.

Once the Manipulator receives an operating command, it checks whether the target position
NOTE

specified by the command is within the pulse range before operating. If the target position
is out of the set pulse range, an error occurs and the Manipulator does not move.
The pulse range can be set in [Tools]-[Robot manager]-[Range] panel.
EPSON
RC+
You may also execute the Range command from the [Command Window].
138
1. Setting by pulse range (for all arms)
2. Setting by mechanical stops
3. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the
Manipulator
Stop
Rectangular Range Setting
Motion Range
Pulse Range
Mechanical
Stop
C series Rev.2