Epson LS series, Руководство манипулятора

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Setup & Operation 5. Motion Range
LS Rev.10 61
(8) Move Joint #3 to its lower limit while pressing the brake release switch, and then
check the lower limit position. Do not lower the mechanical stop too far.
Otherwise, the joint 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 (pulse)
= lower limit Z coordinate value (mm) / Resolution (mm/pulse)
** For the Joint #3 resolution,
refer to the section Setup & Operation 2.4 Specifications .
Execute the following command from the [Command Window]. Enter the
calculated value in X.
>JRANGE 3,X,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 from
the side.
Execute the following commands from the [Command Window]. Enter the value
calculated in Step (10) in X.
>MOTOR ON
' Turns ON the motor
>SPEED 5
' Sets low speed
>PULSE 0,0,X,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.)
EPSON
RC+
EPSON
RC+

NOTE