Work Envelope Setting by Pulse Range
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.
For the maximum pulse range, refer to the following sections.
The pulse range must be set within the mechanical stop range.
Joint #1 Maximum Pulse Range
Joint #2 Maximum Pulse Range
Joint #3 Maximum Pulse Range
Joint #4 Maximum Pulse Range
KEY POINTS
Once the Manipulator receives an operation 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].
Joint #1 Maximum Pulse Range
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 is facing the positive (+) direction on the X-coordinate axis.
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
Arm Length (mm) | Mounting Specifications | |||
|---|---|---|---|---|
| Table Top | Ceiling | Wall | ||
| A: Max. motion range (deg.) | 450 | ±152 | ±105 | ±105 |
| 550 | ±152 | ±135 | ||
| 650 | ±148 | |||
| B: Max. pulse range (pulse) | 450 | -1128676 to +4405476 | 273067 to +3549867 | -273067 to +3549867 |
| 550 | -1128676 to +4405476 | -819200 to +4096000 | ||
| 650 | -1055858 to +4332658 | |||
Joint #2 Maximum Pulse Range
The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is aligned with Arm #1. (The orientation of Arm #1 does not matter.)
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
Arm Length (mm) | Environmental Specifications | Z-value Range (mm) | Mounting Specifications | |||
|---|---|---|---|---|---|---|
| Table Top | Ceiling | Wall | ||||
| A: Max. motion range (deg.) | 450 | S, E | 0 ≥ Z ≥ –270 | ±147.5 | ±125 | |
| –270 > Z ≥ –330 | ±145 | |||||
| C, P | 0 ≥ Z ≥ –240 | ±147.5 | ||||
| –240 > Z ≥ –300 | ±137.5 | |||||
| 550 | S, E | - | ±147.5 | |||
| C, P | 0 ≥ Z ≥ –240 | ±147.5 | ±145 | |||
| –240 > Z ≥ –300 | ±145 | |||||
| 650 | S, E, C, P | - | ±147.5 | |||
| B: Max. pulse range (pulse) | 450 | S, E | 0 ≥ Z ≥ –270 | ±2685156 | ±2275556 | |
| –270 > Z ≥ –330 | ±2639644 | |||||
| C, P | 0 ≥ Z ≥ –240 | ±2685156 | ||||
| –240 > Z ≥ –330 | ±2503111 | |||||
| 550 | S, E | - | ±2685156 | |||
| C, P | 0 ≥ Z ≥ –240 | ±2685156 | ±2639644 | |||
| –240 > Z ≥ –300 | ±2639644 | |||||
| 650 | S, E, C, P | - | ±2685156 | |||
Joint #3 Maximum Pulse Range
The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 moves down from the 0 pulse position.
| Symbol | Description |
|---|---|
| a | Upper limit: 0 pulse |
Joint #3 Stroke Code | Environmental Specifications | |||
|---|---|---|---|---|
| S, E | C | P | ||
Max. motion range (mm) | 2 | -200 to 0 | -170 to 0 | |
| 3 | -330 to 0 | -300 to 0 | ||
Max. pulse range (pulse) | 2 | -1092267 to 0 | -928427 to 0 | |
| 3 | -1802240 to 0 | -1638400 to 0 | ||
KEY POINTS
For Manipulator models with cleanroom & ESD specifications and with protected-model, the work envelope set by the Joint #3 mechanical stop cannot be changed.
Joint #4 Maximum Pulse Range
The 0 (zero) pulse position of Joint #4 is the position where the flat surface near the end of the shaft faces toward the end of Arm #2. (The orientation of Arm #2 does not matter.)
With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
| All Models | |
|---|---|
| A: Max. motion range (deg.) | ±360 |
| B: Max. pulse range (pulse) | ±1668189 |