Epson G3 Series manual Sets low speed

Setup & Operation 5. Motion Range

(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.

Lower limit of pulse = lower limit Z coordinate value / 25 ⋅ 4096 ⋅ 1.8

Example: When lowering the mechanical stop by 20 mm and changing the lower limit Z coordinate value to “-130” in 150 mm stroke

(-130) / 25 × 4096 ×1.8= -38339

EPSON Execute the following command from the [Command Window].

RC+ >JRANGE 3,-38339,0 ' 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 setting or extend the position of the mechanical stop within the limit.

)Controller and lift the arm top cover to check the condition causing the problem from

the side.If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF theNOTE

EPSON

RC+

Example: When lowering the mechanical stop by 20 mm and changing the lower limit Z coordinate value to “-130” in 150 mm stroke

Execute the following commands from the [Command Window].

>MOTOR ON	' Turns ON the motor
>SPEED 5	' Sets low speed
>PULSE 0,0,-38339,0	' Moves to the lower limit-pulse position of Joint #3.
	(In this example, all pulses except those for Joint #3
	are “0”. Substitute these “0s” with the other pulse
	values specifying a position where there is no
	interference even when lowering Joint #3.)

56 G3 Rev.1