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Setup & Operation 5. Motion Range
56 G3 Rev.1
(8) Move Joint #3 to its lower limit while pressing the brake release button, and then chec
k
the lower limit position. Do not lower the mechanical stop too far. Otherwise, the
j
oint 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.
Lower limit of pulse = lower limit Z coordinate value / 25 × 4096 × 1.8
Example: When lowering the mechanical stop by 20 mm and changing the lowe
r
limit Z coordinate value to “-130” in 150 mm stroke
(-130) / 25 × 4096 ×1.8= -38339
EPSON
RC+
Execute the following command from the [Command Window].
>JRANGE 3,-38339,0 ' Sets the pulse range of Joint #3
(10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit
position of the pulse range 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
the error occurs, either change the pulse range to a lower setting or extend the position
of the mechanical stop within the limit.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the
Controller and lift the arm top cover to check the condition causing the problem fro
m
the side.
)
NOTE
Example: When lowering the mechanical stop by 20 mm and changing the lowe
r
limit Z coordinate value to “-130” in 150 mm stroke
EPSON
RC+
Execute the following commands from the [Command Window].
>MOTOR ON ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,-38339,0 ' Moves to the lower limit-pulse position of Joint #3.
(In this example, all pulses except those for Joint #3
are “0”. Substitute these “0s” with the other pulse
values specifying a position where there is no
interference even when lowering Joint #3.)