Setup & Operation 5. Motion Range
G10 / G20 Rev.2 65
In this example, Joint #1 is moved to the center of its motion range (pulse value:
2621440) when checking Joint #2.
If the arm is hitting the mechanical stops or if an error occurs after the arm hits the
mechanical stops, either reset the pulse range to a narrower setting or extend the
positions of the mechanical stops within the limit.
5.2.2 Setting the Mechanical Stop of Joint #3
)
NOTE This method applies only to the Standard-model Manipulator (G10/G20-***S*).
For the Cleanroom-model (G10/G20-***C*), 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 button.
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.
When you press the brake release button,
the shaft may lower and rotate due to the
weight of the end effector. Be sure to hold
the shaft by hand while pressing the button.
Lower limit mechanical stop : 2-M5
×
6
Brake release button
Shaft
(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (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 o
f
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 “420 mm” stroke,
the lower limit Z coordinate value is
“-420”. To change the value to “-100”,
move the lower limit mechanical stop
down “330 mm”. Use calipers to
measure the distance when adjusting the
mechanical stop.
Measure this distance
)
NOTE
)
NOTE