Setup & Operation 5. Motion Range
66 G10 / G20 Rev.2
(6) Firmly tighten two setscrews which are open at a 120 degree interval so that they do
not enter the shaft groove.
Recommended tightening torque: 980 N⋅cm (100 kgf⋅cm)
(7) Turn ON the Controller.
(8) Move Joint #3 to its lower limit while pressing the brake release button, 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.
G10-851S (Z: 180mm)
Lower limit of pulse = lower limit Z coordinate value / 25 × 131072 × (66 / 32)
G10-854S (Z: 420mm)
Lower limit of pulse = lower limit Z coordinate value / 50 × 131072 × (66 / 32)
Example: When lowering the mechanical stop by 80 mm and changing the lowe
r
limit Z coordinate value to “-100” in 180 mm stroke
(−100) / 25 × 131072 × (66/32) = −1081344
EPSON
RC+
Execute the following command from the [Command Window].
>JRANGE 3,-1081344,0 ' Sets the pulse range of Joint #3
Example: When lowering the mechanical stop by 330 mm and changing the lowe
r
limit Z coordinate value to “-100” in 420 mm stroke
(−100) / 50 × 131072 × (66/32) = −540672
EPSON
RC+
Execute the following command from the [Command Window].
>JRANGE 3,-540672,0 ' 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 settingor 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.
)
NOTE