Epson LS10-B, Руководство пользователя

Страница: 61 / 180

Setup & Operation 5. Motion Range
LS10-B Rev.6 49
5.2.2 Setting the Mechanical Stop of Joint #3
This method applies only to the Standard-model manipulator.
For the
Cleanroom-model
,
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 switch.
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.
Lower limit mechanical
stop screw
Set screw: 2-M5 × 6
Brake release switch
Shaft
When you press the brake release switch, 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 (set screws: 2-M5 × 6).
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 of 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 “200 mm” stroke, the
lower limit Z coordinate value is “
− 200”. To change the value to “ − 180”, 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 the lower limit mechanical stop screw (set screws: 2-M5
×
6).
Recommended tightening torque: 3.9 N·m (39.8 kgf·cm)

NOTE

NOTE

NOTE