Epson G3 Series manual 1 Max. Pulse Range of Joint #1

Setup & Operation 5. Motion Range

5.1.1Max. 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
A	A
	+X	0 pulse

BB

Table Top Mounting

	Arm	Standard			-R			-L
A	25	±140 / ±140			−			−
Max. Motion	30		−	125	−	−	150	−
					~ 150 / 125 ~ 150			~ 125 / 150 ~ 125
Range	35		−		−	−	165	−
				110	~ 165/ 110 ~ 165			~ 110 / 165 ~ 110
	25				−			−
B	30	−1456356 ~ 6699236		−1019449 ~ 6990507			−1747627 ~ 6262329
Max. Pulse			/ −1019449 ~ 6990507			/ −1747627 ~ 6262329
		/ −1456356 ~ 6699236
Range	35			−582542 ~ 7427413			−2184533 ~ 5825422
				/ −582542 ~ 7427413		/ −2184533 ~ 5825422

Multiple Mounting

	Arm
A	30
Max. Motion
	35
Range

B30

Max. Pulse

Range 35

Standard	-R	-L
±115 / ±115	−	−
±120/ ±120	−105 ~ 130 / −105 ~ 130	−130 ~ 105 / −130 ~ 105
−728178 ~ 5971058	−	−
/ −728178 ~ 5971058
−873813 ~ 6116693	−436907 ~ 6407965	−1165085 ~ 5679787
/ −873813 ~ 6116693	/ −436907 ~ 6407965	/ −1165085 ~ 5679787

48 G3 Rev.1