Setup & Operation 5. Motion Range
5.3Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
EPSON
RC+
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting is only enforced by software. Therefore, it does not change the physical range. The maximum physical range is based on the position of the mechanical stops.
Set the XYLim setting on the [XYZ Limits] panel shown by selecting
(You may also execute the XYLim command from the [Command Window].)
5.4Standard Motion Range
The following “motion range” diagrams show the standard (maximum) specification. When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the areas shown in the figure.
“Area limited by mechanical stop” is the area where the center of Joint #3’s lowest point can be moved when each joint motor is not under servo control.
“Mechanical stop” sets the limited motion range so that the center of Joint #3 cannot move beyond the area mechanically.
“Maximum space” is the area that contains the farthest reach of the arms. If the maximum radius of the end effector is over 60 mm, add the “Area limited by mechanical stop” and “radius of the end effector”. The total value is specified as the maximum area.
G3 Rev.1 | 57 |
