8. Motion Range and Robot Coordinates
Part 1: Setup & Operation
44
8.3 Changing the Motion Range
WARNING
Both the mechanical stop and the software settings must always be set at the
same time when a motion range is being set up.
* The motion ranges of Joint #3 of Clean model manipulator and all joints of
Protected model manipulator cannot be changed with mechanical stops.
The motion range is preset at the factory as explained in
8.1 Standard motion range
in this
chapter. This is the manipulator’s maximum motion range.
It is possible to change the motion range for reasons of layout efficiency or safety. Make
any changes in the motion range in accordance with the following instructions.
Methods of setting the motion range
You can set the motion range by doing any of the following:
(1) Set the pulse range (for all joints).
(2) Set the mechanical stops (for Joint #1 to #3 of Standard model, Joint #1 and #2 of
Clean model).
(3) Set the Cartesian (rectangular) range in the X, Y coordinate system of the robot (for
Joint #1 and #2).
(2) Mechanical
stop
(2) Mechanical
stop
(3) Rectangular range setting
(1) Pulse range
Motion range
Figure 27. Setting the motion range
Summary of Contents for EL Series
Page 1: ...ES EL series Rev 9 EM019R893F SCARA ROBOT MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL ES EL series Rev 9 ...
Page 12: ...x ...
Page 14: ...2 ...
Page 16: ...1 Manipulator Part Names Part 1 Setup Operation 4 ...
Page 30: ...4 User Wires and Pneumatic Tubes Part 1 Setup Operation 18 ...
Page 42: ...5 End Effectors Part 1 Setup Operation 30 ...
Page 44: ...6 Attaching a Camera Valve and Other Devices Part 1 Setup Operation 32 ...
Page 68: ...8 Motion Range and Robot Coordinates Part 1 Setup Operation 56 ...
Page 70: ...9 Emergency Stop Part 1 Setup Operation 58 ...
Page 80: ...11 Clean Model Part 1 Setup Operation 68 ...
Page 92: ...80 ...
Page 94: ...Maintenance Safety Precautions Part 2 Maintenance 82 ...
Page 104: ...2 Opening the Covers Part 2 Maintenance 92 ...
Page 112: ...3 Replacing the Cable Unit Part 2 Maintenance 100 ...
Page 138: ...5 Replacing the Motors Part 2 Maintenance 126 ...
Page 162: ...6 Replacing the Reduction Gear Units Part 2 Maintenance 150 ...
Page 186: ...9 Replacing the Ball Screw Spline Unit Part 2 Maintenance 174 ...
Page 210: ...11 Calibration Part 2 Maintenance 198 ...
Page 214: ...12 Clean Model Maintenance Part 2 Maintenance 202 ...
Page 224: ...13 Protected Model Maintenance Part 2 Maintenance 212 13 6 Wiring Schematic 2 ...
Page 236: ...14 Maintenance Part Lists Part 2 Maintenance 224 ...