Work Envelope
WARNING
- Do not operate the Manipulator with the mechanical stop removed. Removing the mechanical stop is extremely dangerous because the Manipulator may move to a position outside its normal work envelope.
CAUTION
- When restricting the work envelope for safety reasons, be sure to make settings using both the pulse range and mechanical stop.
The work envelope is preset at the factory as explained in the following section.
Standard Work Envelope
The work envelope can be set by one of the following three methods.
- Setting by pulse range (for all joints)
- Setting by mechanical stops (for Joints #1 to #3)
- Setting the rectangular range in the XY coordinate system of the Manipulator (for Joints #1 and #2)
To limit the work envelope for layout efficiency or safety reasons, make the settings as explained in the following sections.
Work Envelope Setting by Pulse Range
Setting the Work Envelope by Mechanical Stops
Setting the Rectangular Range in the XY Coordinate System of the Manipulator