Epson G3 Series manual 3 Max. Pulse Range of Joint #3, 4 Max. Pulse Range of Joint #4

Setup & Operation 5. Motion Range

5.1.3Max. Pulse Range of Joint #3

The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.

Upper limit: 0 pulse

	Model	Joint #3 Stroke	Lower Limit Pulse
	G3-**1S*	150 mm	−1706667
	G3-**C* (Cleanroom-model)	120 mm	−1365334
NOTE	For the Cleanroom-model (G3-***C*), the motion range set with the Joint #3 mechanical
) stop cannot be changed.

5.1.4Max. Pulse Range of Joint #4

The 0 (zero) pulse position of Joint #4 is the position where the flat near the end of the shaft faces toward the end of Arm #2. 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 (-).

+Y

Counterclockwise (+value)

+X 0 pulse ± 1494221 pulse

Clockwise (-value)

50 G3 Rev.1