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Setup & Operation 5. Motion Range
G3 Rev.1 55
5.2.2 Setting the Mechanical Stop of Joint #3
)
NOTE
This method applies only to the Standard-model Manipulator (G3-**1S*) / Multiple
Mounting Manipulator (G3-**1SM).
For the Cleanroom-model (
G3-**1C*), the motion range set with the Joint #3 mechanical
stop cannot be changed.
(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
(2) Push up the shaft while pressing the brake
release button.
Do not push the shaft up to its upper limit or it
will be difficult for the arm top cover to be
removed. Push the shaft up to a position
where the Joint #3 mechanical stop can be
changed.
Shaft
Lower limit
mechanical
stop
2-M5×6
Brake release button
When you press the brake release button, the shaft may lower due to the weight of the
end effector. Be sure to hold the shaft by hand while pressing the button.
(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (M4×15).
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only
the position of the lower limit mechanical stop on the top can be changed. Do not
remove the upper limit mechanical stop on the bottom because the calibration point o
f
Joint #3 is specified using the stop.
(5) The upper end of the shaft defines the maximum
stroke. Move the lower limit mechanical stop
down by the length you want to limit the stroke.
For example, when the lower limit mechanical
stop is set at “150 mm” stroke, the lower limit Z
coordinate value is “-150”. To change the
value to “-130”, move the lower limit
mechanical stop down “20 mm”. Use calipers
to measure the distance when adjusting the
mechanical stop.
Measure
this distance.
(6) Firmly tighten two lower limit mechanical stop screws (M4 × 15) so that they do no
t
enter the shaft groove.
Recommended tightening torque: 490 N⋅cm (50 kgf⋅cm)
(7) Turn ON the Controller.
)
NOTE
)
NOTE