GX4 Manipulator 5. Motion Range
GX series Rev.2
67
(1) Turn OFF the Controller.
(2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and tighten it.
Joint
Hexagon socket
head cap bolt
The number
of bolts
Recommended
tightening torque
Strength
1, 2
M8
×
10
1 bolt /
one side
18.0 N
⋅
m
(194 kgf
⋅
cm)
Equivalent to ISO898-1
property class: 10.9 or 12.9
(3) Turn ON the Controller.
(4) Set the pulse range corresponding to the new positions of the mechanical stops.
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Using GX4-A**1S*
The angle of Joint #1 is set from
–
110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
120 degrees to +120 degrees.
EPSON
RC+
Execute the following commands from the [Command Window].
>JRANGE 1,-582542,5825423
' the pulse range of Joint #1
>JRANGE 2,-2184533,2184533
' Sets the pulse range of Joint #2
>RANGE
' Checks the setting using Range
-582542, 5825423,-2184533,2184533,-1706667
,0, -1310720, 1310720
(5) Move the arm by hand until it touches the mechanical stops, and make sure that the arm
does not hit any peripheral equipment during operation.
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
and maximum pulse range. Make sure that the arm does not hit the mechanical stops.
(Check the position of the mechanical stop and the motion range you set.)
Example: Using GX4-A**1S*
The angle of Joint #1 is set from
-
110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
120 degrees to +120 degrees.
EPSON
RC+
Execute the following commands from the [Command Window].
>MOTOR ON
' Turns ON the motor
>POWER LOW
' Enters low-power mode
>SPEED 5
' Sets at low speeds
>PULSE -582542,0,0,0
' Moves to the min. pulse position of Joint #1
>PULSE 5825423,0,0,0
' Moves to the max. pulse position of Joint #1
>PULSE 2621440,- 2184533,0,0
' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2184533,0,0
' Moves to the max. pulse position of Joint #2
The Pulse command (Go Pulse command) moves all joints to the specified positions at
the same time. Specify safe positions after considering motion of not only the joints
whose pulse range have been changed, but also other joints.
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.
NOTE
Summary of Contents for SCARA GX Series
Page 1: ...Original instructions Rev 2 EM221R5129F SCARA Robots GX series Manual ...
Page 2: ...GX series Manual Rev 2 ...
Page 12: ......
Page 86: ...GX4 Manipulator 5 Motion Range 76 GX series Rev 2 ...
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