Assessments - 3, GPA: 4
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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*). For the Cleanroom-model (G10/G20-***C*), 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 button. 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 button, 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-M5.6Brake release buttonShaft (3) Turn OFF the Controller. (4) Loosen the lower limit mechanical stop 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 “330 mm”. Use calipers to measure the distance when adjusting the mechanical stop. Measure this distance .... ....: NOTE N TE .... ....: NOTE N TE NF .... ....: F F .... ....: NOTE N TE .... ....: F .... ....: F (6) Firmly tighten two setscrews which are open at a 120 degree interval so that they donot enter the shaft groove. Recommended tightening torque: 980 N.cm (100 kgf.cm) (7) Turn ON the Controller. (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 coordinatevalue is negative. G10-851S (Z: 180mm) Lower limit of pulse = lower limit Z coordinate value / 25 . 131072 . (66 / 32) G10-854S (Z: 420mm) Lower limit of pulse = lower limit Z coordinate value / 50 . 131072 . (66 / 32) Example: When lowering the mechanical stop by 80 mm and changing the lower limit Z coordinate value to “-100” in 180 mm stroke (.100) / 25 . 131072 . (66/32) = .1081344 EPSON RC+ Execute the following command from the [Command Window]. >JRANGE 3,-1081344,0 ' Sets the pulse range of Joint #3 Example: When lowering the mechanical stop by 330 mm and changing the lower limit Z coordinate value to “-100” in 420 mm stroke (.100) / 50 . 131072 . (66/32) = .540672 EPSON RC+ Execute the following command from the [Command Window]. >JRANGE 3,-540672,0 ' Sets the pulse range of Joint #3 (10) Using the Pulse command (Go Pulse command), moveJoint #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 settingor extend the position of the mechanical stop within the limit. If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the Controller and lift the arm top cover to check the condition causing the problem from the side. .... ....: NOTE N TE NF .... ....: F F Example: When lowering the mechanical stop by 80 mm and changing the lower limit Z coordinate value to “-100” in 180 mm stroke EPSON RC+ Execute the following commands from the [Command Window]. >MOTOR ON ' Turns ON the motor >SPEED 5 ' Sets low speed >PULSE 0,0,-1081344,0 ' 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.) Example: When lowering the mechanical stop by 320 mm and changing the lower limit Z coordinate value to “-100” in 420 mm stroke EPSON RC+ Execute the following commands from the [Command Window]. >MOTOR ON ' Turns ON the motor >SPEED 5 ' Sets low speed >PULSE 0,0,-540672,0 ' 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 lowerin...
Este manual também é adequado para os modelos :dispositivos robóticos - G10 Series (1.62 mb)