Setup & Operation 5. Motion Range
84
G10 / G20 Rev.20
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
This method applies only to the Standard-model Manipulator (G10/G20-***S*) and
Protected-model Manipulator (G10/G20-***D* without bellows option).
For the
Cleanroom-model (G10/G20-***C*) and Protected-model (G10/G20-***D* with
bellows option)
, 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 switch.
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 switch,
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 set screw
Brake release switch
Shaft
(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop set 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 of 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
“320 mm”. Use calipers to measure the
distance when adjusting the mechanical
stop.
Measure this distance
F
NOTE
F
NOTE
F
NOTE
Summary of Contents for G10 Series
Page 1: ...Rev 20 EM183R3619F SCARA ROBOT G10 G20 series MANIPULATOR MANUAL ...
Page 2: ...MANIPULATOR MANUAL G10 G20 series Rev 20 ...
Page 8: ...vi G10 G20 Rev 20 ...
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Page 102: ...Setup Operation 5 Motion Range 90 G10 G20 Rev 20 ...
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