Epson C8 Series, Manipulator Manual

Page: 74 / 346

Setup & Operation 5. Motion Range
60 C8 Rev.13
5. Motion Range
WARNING
■
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.
The motion range is preset at the factory as describes in the Setup & Operation 2.5 Standard
Motion Range . This is the maximum motion range of the Manipulator.
Motion range is set by the following three methods:
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
Mechanical
Stop
Rectangular Range Setting
Pulse Range
Motion Range
Mechanical
Stop
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.
The Arm #1 and #4 do not have a mechanical stop.
Once the Manipulator receives an operating command, it checks whether the target position
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.
EPSON
RC+
The pulse range can be set in [Tools]-[Robot manager]-[Range] panel.
You may also execute the Range command from the [Command Window].
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NOTE
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NOTE