Setting the Mechanical Stops of Joints #1 and #2
Joints #1 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Set the motion range depending on the position of the mechanical stop (adjustable) Install the bolts in the threaded holes corresponding to the angles to be set.
Install the bolts for the mechanical stop to the following position.
Joint #1 Mechanical Stops
| a | b | ||
|---|---|---|---|
| LA3-A | Setting Angle | 110° | -110° |
| Pulse Value | 455111 pulse | -45511 pulse | |
| LA6-A | Setting Angle | 115° | -115° |
| Pulse Value | 746382 pulse | -91022 pulse | |
**Joint #2 Mechanical Stops
| a | b | ||
|---|---|---|---|
| LA3-A LA6-A | Setting Angle | 110° | -110° |
| Pulse Value | 455111 pulse | -45511 pulse | |
- Turn off the Controller.
- Install a hexagon socket head cap bolt into the hole corresponding to the setting angle and tighten it.
| Joint | Hexagon socket head cap bolt | The number of bolts | Recommended tightening torque | Strength |
|---|---|---|---|---|
| 1 | M8×10 full thread | 1 for each side | 12.3 N·m (125 kgf·cm) | ISO898-1 property class 10.9 or 12.9 equivalent |
Turn ON the Controller.
Set the pulse range corresponding to the new positions of the mechanical stops.
KEY POINTS
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Setting Joint #1 to -110 to +110° and Joint #2 to -110 to +110° for LA6-A602S
Execute the following commands from the [Command Window].
>JRANGE 1, -72817, 728177 ' Sets the pulse range of Joint #1 >JRANGE 2, -250311, 250311 Sets the pulse range of Joint #2 >RANGE ' Checks the set value using Range command -72817, 728177, -250311, 250311, -245760, 0, -245760, 245760Move the arm by hand until it touches the mechanical stops, and make sure that the arm does not hit any peripheral equipment during operation.
Operate the joint changed at low speeds until it reaches the positions of the minimum and maximum pulse range. Make sure that the arm does not hit the mechanical stops.
(Check the position of the mechanical stop and the motion range that were set.)
Example: Setting Joint #1 to -110 to +110° and Joint #2 to -110 to +110° for LA6-A602S
Execute the following commands from the [Command Window].
>MOTOR ON ' Turns On the motor >POWER LOW ' Enters low-power mode >SPEED 5 ‘ Sets at low speed >PULSE 1, -72817.0, 0.0 ' Moves to the min. pulse position of Joint #1 >PULSE 72817,0,0,0 ' Moves to the max. pulse position of Joint #1 >PULSE 327680,-250311,0,0 ‘ Moves to the minimum pulse position of Joint #2 >PULSE 327680,250311,0,0 ' Moves to the max. pulse position of Joint #2The Pulse command (Go Pulse command) moves all joints to the specified positions at the same time. Specify safe positions after considering motion of not only the joints whose pulse range have been changed, but also other joints.
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.