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.

KEY POINTS

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• The Arm #1 and #4 do not have a mechanical stop.
• 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].