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Setup & Operation 5. Motion Range
54 G3 Rev.1
(1) Turn OFF the Controller.
(2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and tighten it.
Joint
Hexagon socket head cap
bolt (fully threaded)
The number
of bolts
Recommended
tightening torque
1
M8 × 10
1 bolt /
one side
3720 N⋅cm (380 kgf⋅cm)
(3) Turn ON the Controller.
(4) Set the pulse range corresponding to the new positions of the mechanical stops.
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Using G3-251S*
The angle of Joint #1 is set from –132 degrees to +132 degrees.
The angle of Joint #2 is set from -141 degrees to +141 degrees.
)
NOTE
EPSON
RC+
Execute the following commands from the [Command Window].
>JRANGE 1,-9786710,51729750 ' Sets the pulse range of Joint #1
>JRANGE 2,-20534614,+20534614 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-9786710,51729750,-20534614,20534614,-13653338
,0,23907534, 23907534
(5) Move the arm by hand until it touches the mechanical stops, and make sure that the
arm does not hit any peripheral equipment during operation.
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
and maximum pulse range. Make sure that the arm does not hit the mechanical
stops. (Check the position of the mechanical stop and the motion range you set.)
Example: Using G3-251S*
The angle of Joint #1 is set from -132 degrees to +132 degrees.
The angle of Joint #2 is set from -141 degrees to +141 degrees.
EPSON
RC+
Execute the following commands from the [Command Window].
>MOTOR ON ' Turns ON the motor
>CP ON ' Enters low-power mode
>SPEED 5 ' Sets at low speeds
>PULSE -9786710,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 51729750,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 20971520,-20534614,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 20971520, 20534614,0,0 ' Moves to the max. pulse position of Joint #2
The Pulse command (Go Pulse command) moves all joints to the specified positions at
the same time. Specify safe positions after considering motion of not only the joints
whose pulse range have been changed, but also other joints.
In this example, Joint #1 is moved to the center of its motion range (pulse value:
20971520) when checking Joint #2.
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the
mechanical stops, either reset the pulse range to a narrower setting or extend the
positions of the mechanical stops within the limit.