Work Envelope Setting by Pulse Range (for Each Joint)
Pulses are the basic unit of Manipulator motion. The motion range (work envelope) of the Manipulator is set by the pulse lower limit value and pulse upper limit value (pulse range) for each joint. Pulse values are read from the encoder output of the servomotor.
Be sure to set the pulse range within the mechanical stop range.
CAUTION
- Do not set and/or use the Arm #4 with a pulse range exceeding the maximum value. The Arm #4 does not have a mechanical stop. Using the Arm #4 with a pulse range exceeding the maximum pulse range may cause the inner wiring damaged and/or malfunction to the Manipulator.
Torsion of the inner wiring can be checked by removing the Arm #3 head cover.
KEY POINTS
Once the Manipulator receives a motion command, it checks whether the target position specified by the command is within the pulse range before operating. If the target position is outside of the pulse range that was set, an error occurs and the Manipulator does not move.
Go to [Tools] - [Robot Manager] - [Range] panel, and make the setting. This can also be set using the Range statement in [Command Window].