Epson T-B Series, Руководство пользователя

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T3-B T6-B Manipulator 5. Motion Range
78 T-B series Rev.1
5.1.1 Max. Pulse Range of Joint #1
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive
(+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative ( - ).
+Y
+X 0 pulse
+ B
−
B
+ A − A
A: Max. Motion Range B: Max. Pulse Range
T3-B
±
132°
−
95574 to 505174 pulse
T6-B
−
152918 to 808278 pulse
5.1.2 Max. Pulse Range of Joint #2
The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1.
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative ( - ).
− B + B
0 pulse
− A + A
A: Max. Motion Range B: Max. Pulse Range
T3-B
±
141°
±
320854 pulse
T6-B ± 150° ± 341334 pulse