Setting the Mechanical Stops of Joints #3
This methods only applies to standard environment specification Manipulators. The motion area setting cannot be changed by the Joint #3 mechanical stop for the cleanroom environment specification Manipulator.
Turn ON the Controller and turn OFF the motors using the Motor OFF command.
Push up the shaft while pressing the brake release switch.
Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be removed. Push the shaft up to a position where the Joint #3 mechanical stop can be changed.
When you press the brake release switch, the shaft may lower due to the weight of the hand. Be sure to hold the shaft by hand while pressing the button.
| Symbol | Description |
|---|---|
| a | Brake release switch |
| b | Lower limit mechanical stop mounting screw: M4×15 |
| c | Shaft |
Turn off the Controller.
Loosen the lower limit mechanical stop screw (M4× 15).
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only the position of the lower limit mechanical stop on the top can be changed. Do not remove the upper limit mechanical stop on the bottom because the calibration point of Joint #3 is specified using the stop.
The upper end of the shaft defines the maximum stroke. Move the lower limit mechanical stop down by the length you want to limit the stroke.
For example, when the lower limit mechanical stop is set at “200 mm” stroke, the lower limit Z coordinate value is “−200”. To change the value to “−180”, move the lower limit mechanical stop down “20 mm”. Use calipers to measure the distance when adjusting the mechanical stop.
| Symbol | Description |
|---|---|
| a | Measurement length |
Firmly tighten the lower limit mechanical stop screw (M4×15).
Recommended tightening torque: 5.4 N m (55 kgf cm)
Turn ON the Controller.
Move Joint #3 to its lower limit while pressing the brake release switch, and then check the lower limit position. Do not lower the mechanical stop too far. Otherwise, the joint may not reach a target position.
Calculate the lower limit pulse value of the pulse range using the formula shown below and set the value.
The result of the calculation is always negative because the lower limit Z coordinate value is negative.
Lower limit of pulse (pulse) = lower limit Z coordinate value (mm) / Joint #3 Resolution** (mm/pulse)
** For Joint #3 resolution, refer to the following.
Appendix B: Specification Table
Execute the following commands from the [Command Window]. Enter the calculated value in X.
>JRANGE 3,X,0 ' Sets the pulse range of Joint #3Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.
If the mechanical stop range is less than the pulse range, Joint #3 will hit the mechanical stop and an error will occur. When the error occurs, either change the pulse range to a lower setting or extend the position of the mechanical stop within the limit.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the Controller and lift the arm top cover to check the condition causing the problem from the side.
Execute the following commands from the [Command Window]. Enter the value calculated in Step (9) in X.
>MOTOR ON ' Turns On the motor >SPEED 5 ' Sets at low speed >PULSE 0,0,X,0 ' Operate at the lower limit pulse position of Joint #3 (In this example, all pulses except those for Joint #3 are “0”. Substitute these “0s” with the other pulse values specifying a position where there is no interference even when lowering Joint #3.)