Setting the Mechanical Stops of Joints #1 and #2
Both Joints #1 and #2 have threaded holes in positions corresponding to angles for the setting area. Set the motion range depending on the position of the mechanical stop (adjustable) Install the bolts in the holes corresponding to the angle that you want to set.
Install the bolts for the mechanical stop to the following position.
Joint #1 Mechanical Stops
This is a figure of Arm #1 viewed from below.
| a | b | ||
|---|---|---|---|
| LS4-C | Setting Angle (°) | 110 | -110 |
| Pulse Value (pulse) | 455111 | -45511 | |
| LS8-C | Setting Angle (°) | 115 | -115 |
| Pulse Value (pulse) | 746382 | -91022 | |
Joint #2 Mechanical Stops
This is a figure of Arm #1 viewed from above.
| a | b | ||
|---|---|---|---|
| LS4-C/ LS8-C | Setting Angle (°) | 125 | -125 |
| Pulse Value (pulse) | 284444 | -284444 | |
- Turn off the Controller.
- Install a hexagon socket head cap bolt into the hole corresponding to the setting angle, and tighten it.
| Models | Joint | Hexagon socket head cap bolt | The number of bolts | Recommended tightening torque | Strength |
|---|---|---|---|---|---|
| LS4-C | 1＆ 2 | M8×10 full thread | 1 bolt / side | 13.0 N・ m (132.7 kgfcm) | ISO898-1 property class 10.9 or 12.9. |
| LS8-C | 1＆ 2 | M10×35 full thread | 1 bolt / side | 13.0 N・ m (132.7 kgfcm) | ISO898-1 property class 10.9 or 12.9. |
- Turn on the Controller.
- Set the pulse range corresponding to the new positions of the mechanical stops.
Be sure to set the pulse range inside the positions of the mechanical stop range.
[Example: Using LS8-C602S to set Joint #1 from -110° to +110° and Joint #2 from -110° to +110°]
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, 245760
Move 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 you set.)
[Example: Using LS8-C602S to set Joint #1 from -110° to +110° and Joint #2 from -110° to +110°]
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 min. pulse position of Joint #2
PULSE 327680,250311,0,0 ' Moves to the max. pulse position of Joint #2 ```
The 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.
In this example, when checking Joint #2, the Joint #1 setting is set to 0° which is near the center of the motion area. (The pulse value is “327680” for LS4-C and “204800” for LS8-C)
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.