Motion Range Setting By Pulse Range (For All Arms) - Epson C Series Manual

5.1 Motion Range Setting by Pulse Range (for All Arms)

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.
■ Do not set and/or use the Arm #4 with a pulse range exceeding the maximum
value.
The Arm #4 does not have a mechanical stop. Using the Arm #4 with a pulse
range exceeding the maximum pulse range may cause the inner wiring damaged
CAUTION
and/or malfunction to the Manipulator.
Torsion of the inner wiring can be checked by removing the Arm #3 head cover.
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].
C series Rev.2
Arm #3 head cover
C4 Manipulator 5. Motion Range
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